CN108556939A - A kind of full landform movement sniffing robot - Google Patents
A kind of full landform movement sniffing robot Download PDFInfo
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- CN108556939A CN108556939A CN201810677692.1A CN201810677692A CN108556939A CN 108556939 A CN108556939 A CN 108556939A CN 201810677692 A CN201810677692 A CN 201810677692A CN 108556939 A CN108556939 A CN 108556939A
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- steering engine
- driving motor
- chassis
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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
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
Full landform in the present invention moves sniffing robot, it is walked on flat road surface using wheeled construction, it is walked on complicated road surface using track structure, including wheeled component part, car body, chassis system, steering gear system, controller, environmental detecting system, power-supply system and driving motor, the car body is located at the top of the chassis system；The driving motor includes Wheel type driving motor and caterpillar chassis driving motor；The chassis system includes crawler belt, synchronous pulley, chassis supports frame and caterpillar chassis driving motor, the synchronous pulley includes driving wheel and driven wheel, the caterpillar chassis driving motor is mounted on chassis supports frame, the driving wheel of the synchronous pulley is connected with the output shaft of the caterpillar chassis driving motor, the crawler belt is engaged with the synchronous pulley, drives caterpillar drive.
Description
Technical field
The present invention relates to robotic technology fields, and sniffing robot is moved more particularly, to a kind of full landform.
Background technology
Currently, robot chassis generally use crawler type and/or wheeled, wherein being had to complex road surface using caterpillar machinery
There is a powerful handling capacity, but it then can not be quickly through to flat road surface.Although and wheel machine can be quickly through flat
Road surface, but to more complex road surface, for example, thick grass, broken stone road, the road surfaces such as marsh can only hang back.Therefore, make robot autonomous
Ground carries out detection to foreign environment and crosses over some gullies even by itself strength under the premise of ensureing its own safety
Climbing or across lower steep cliff, be problem to be solved in robot field.
Invention content
For problems of the prior art, it is an object of the invention to propose a kind of full landform movement detection machine
People enables the full landform in the present invention to move sniffing robot and completes using crawler type in such a way that wheel type is combined
Crawler type to wheeled construction mutual switching, i.e., its flat road surface use wheel type movement, supported by former and later two holders
It plays the full landform and moves the entire body of sniffing robot, and can realize quickly accessible pass through；It is in complex road surface
Using track structure, obtains traffic information by sensor and then acquired information is divided using SCM system
Analysis, intransitable barrier is avoided according to analysis result, to its can across barrier take action appropriate carry out across
More；Full landform movement sniffing robot in the present invention is rotated by jointly controlling different groups of steering engine, robot chassis liter
It rises or reduces so as to raise or reduce its own height, and normal attitude can be restored automatically in the case of overturning.
Technical scheme is as follows：
A kind of full landform movement sniffing robot is walked using wheeled construction on flat road surface, using track structure
It walks on complicated road surface comprising wheeled component part, car body, chassis system, steering gear system, controller, environment detection system
System, power-supply system and driving motor, the car body are located at the top of the chassis system；The driving motor includes wheeled drive
Dynamic motor and caterpillar chassis driving motor；The chassis system includes crawler belt, synchronous pulley, chassis supports frame and crawler type bottom
Disk-drive motor, the synchronous pulley include driving wheel and driven wheel, and the caterpillar chassis driving motor is mounted on chassis branch
On support, the driving wheel of the synchronous pulley is connected with the output shaft of the caterpillar chassis driving motor, the crawler belt and institute
Synchronous pulley engagement is stated, caterpillar drive is driven；The wheeled component part include first support, second support, the first wheel and
Second wheel, the first support and second support are located at the both ends of crawler type car body, the first support and second
Holder has preset length, and the first support and the second support can be rotated, and be configured to support
The car body, first wheel are arranged in the end of first support of the first support far from the car body, and described
Two wheels are arranged in the end of second support of the second support far from the car body；And the Wheel type driving motor first
Wheel type driving motor and the second Wheel type driving motor and first wheel are adhesion wheel, and first wheel is by described the
One Wheel type driving motor and second Wheel type driving motor are driven；The steering gear system includes the first steering engine, the second rudder
Machine, third steering engine, the 4th steering engine, the 5th steering engine and steering engine controller, the steering engine controller control the action of each steering engine,
And the torsion of the 4th steering engine and second steering engine is more than the torsion of the third steering engine and the first steering engine；The environment is visited
Examining system includes the first ultrasonic distance-measuring sensor and the second ultrasonic distance-measuring sensor and third ultrasonic distance-measuring sensor, institute
The first ultrasonic distance-measuring sensor is stated to be arranged in first support and the first wheel junction；The angular transducer is arranged described
The inside of car body；The master control borad of the controller judges environment by receiving the range information of the ultrasonic sensor feedback
Information；Master control borad judges the posture of robot itself by the angle information of receiving angle sensor feedback, to complete certainly
The normal attitude of body restores automatically；The power-supply system is decompression power supply system.
Preferably, the caterpillar chassis driving motor includes the first caterpillar chassis driving motor and the second crawler type bottom
Disk-drive motor, the crawler belt include the first crawler belt and the second crawler belt, and the synchronous pulley includes the first synchronous pulley and second
Synchronous pulley, the chassis supports frame include the first chassis supports frame and the second chassis supports frame, are located at below car body
Both sides；Each chassis supports frame is located at the inside of each crawler belt, and described two caterpillar chassis driving motors are pacified respectively
On respective chassis supports frame, each chassis supports frame is connected to by connector below the car body.
Preferably, first synchronous pulley includes the first driving wheel and the first follower, and first crawler belt is mounted on
Between the first driving wheel and the first follower of first synchronous pulley, hole is provided on the first crawler belt, the hole is synchronous with first
Tooth intermeshing on belt wheel；And
Second synchronous pulley includes the second driving wheel and the second follower, and second crawler belt is mounted on second and synchronizes
Between the second driving wheel and the second follower of belt wheel, be provided with hole on the second crawler belt, the hole on the second synchronous pulley
Tooth is intermeshed；
First driving wheel of first synchronous pulley is mounted on the output shaft of the first caterpillar chassis driving motor, institute
The first driven wheel for stating the first synchronous pulley is mounted on the first chassis supports frame, when the first crawler type driving motor rotates,
First crawler belt is driven to be rotated；
Second driving wheel of second synchronous pulley is mounted on the output shaft of the second caterpillar chassis driving motor, institute
The second driven wheel for stating the second synchronous pulley is mounted on the second chassis supports frame, when the second crawler type driving motor rotates,
Second crawler belt is driven to be rotated.
Preferably, the first driving wheel in first synchronous pulley and the second follower in second synchronous pulley
It is oppositely arranged, and the first driven wheel in first synchronous pulley is opposite with the second driving wheel in second synchronous pulley
Setting.
Preferably, the end of first support of the first support far from the car body is rotatably connected to the first link,
First Wheel type driving motor and the second Wheel type driving motor are separately positioned on the outside of the both sides of first link, institute
Each first wheel is stated respectively to be connected with the output shaft of the first Wheel type driving motor and the second Wheel type driving motor；First ultrasound
Wave distance measuring sensor be arranged when the first wheel lands described in outside of first link far from the car body；First wheel
Angle between the first support is adjusted by the 5th steering engine；
First link is attached first columnar stays by the first post supports and U-shaped support element
The width for being configured to keep the first support in the lower section of first link and first support junction is arranged in part
Degree influences rotation flexibility ratio between the first link and first support and the to prevent the width of the first link from narrowing
One columnar stays frame plays the role of support and limit to the movement of first support Part III；
The lower end in the inside of first link, two sides point of the U-shaped support element are arranged in the U-shaped support element
It is not parallel with the bottom edge of the first link so that the bottom edge of the U-shaped support element is disposed vertically with first link,
The first support plate is connected on the bottom edge of the U-shaped supporting rack, and the first ultrasonic distance-measuring sensor is set in first support plate.
Preferably, the first end of second link is rotatablely connected separate to the second support by the first aluminium column
The end of the car body；
The second post supports are arranged in the second end of second link, and second post supports are configured to protect
The width for holding second support influences second link and described second to prevent the width of second link from narrowing
Rotation flexibility ratio between holder.
Preferably, the first support includes first part, second part and Part III, the first support first
It includes the first component and second component to divide, and the first support second part has bottom and two sides, the first support
Part III has bottom and two sides；
After the third steering engine is fixed on by the aluminium column at the top of it on first support first part second component,
First support first part second component is placed in first component Shang Shi first supports first part of first support first part
After one component and the overlapping of first support first part second component, by the first overlapping side of first support first part with it is described
Car body is rotatablely connected, and the first rotation connection is arranged between the first support first part and the first support second part
Portion, first rotating junction and the other side of the first support first part first component are affixed；First rotation connects
Socket part is U-shaped structure, and the bottom edge of the U-shaped structure of first rotating junction and first support first part are affixed, described
The top of the U-shaped structure of one rotating junction is rotatablely connected with the side of first support second part respectively；
4th steering engine is fixed to first support by the 4th steering engine by the aluminium column positioned at the 4th steering engine both sides
Two sides of two parts；
It is described by the second rotating junction between the first support second part and the first support Part III
Second rotating junction arranges in pairs, each second rotating junction respectively with the first support second part and described
One holder Part III is rotatablely connected, and opposite fortune is generated between first support second part and first support Part III to realize
Dynamic, the 5th steering engine is fixed to first support Part III by the 5th steering engine by the aluminium column positioned at the 5th steering engine both sides
Two sides.
Preferably, the second support includes first part and second part, and the second support first part includes the
One component and second component, the second support second part have bottom and two sides；First steering engine is passed through it
After the aluminium column at top is fixed on second support first part second component, second support first part second component is set
In second support first part first component Shang Shi second supports first part's first component and second support first part second
After component overlapping, the first of second support first part the overlapping side is rotatablely connected with the car body, the second support the
It is a part of that third rotating junction is set between the second support second part, the third rotating junction with second
The other side of the frame first part first component not connect with car body is affixed；The third rotating junction is U-shaped structure, institute
Bottom edge and the second support first part for stating the U-shaped structure of third rotating junction are affixed, the U-shaped of the third rotating junction
The top of structure is rotatablely connected with the side of second support second part respectively；
4th steering engine is fixed to first support by the 4th steering engine by the aluminium column positioned at the 4th steering engine both sides
Two sides of two parts.
Preferably, the power-supply system includes battery, and the battery is configured to be moved according to the full landform of the present invention
Sniffing robot system provides electric energy；The battery includes the first battery and the second battery, first battery and the second battery
It is the model airplane battery of 11.1V, wherein voltage is down to the highest electricity that each steering engine allows by the first battery by the first voltage reduction module
It presses in range, and ensures that each wheel electrical machine and steering engine have sufficient driving current, to can guarantee the torque of each steering engine to rotate
The first support and the second support can simultaneously be supported when the full landform movement sniffing robot is under wheeled state
Entire car body is played, voltage is dropped to driving motor by second battery by the second voltage reduction module.
Beneficial effects of the present invention are as follows：
Compared with prior art, the present invention in full landform movement sniffing robot according to bionic design gone out crawler belt and
The motion mode of wheeled combination so that the full landform movement sniffing robot in the present invention copes with level land and complicated landform
Situation, while it can be changed into mobile working platform as needed, specifically, two long feet easily can be raised and be reduced
Height of the carbody, highly raising aftercarriage can also further be moved, and using robot as mobile working platform, pass through two
Oneself height is arbitrarily raised and reduced to the interoperation of foot to carry out exploration and operation, and being transformed by part can also be across in river
Between stream or the cliff of displacement Simple bridge is made to take；The wherein constructing function of mobile working platform can be robot in actually exploring
The information collection of the various collection of resources facilities and survey sensors that install additional provides great convenience, the letter for making robot collect
Breath more it is accurate in place.
Full landform movement sniffing robot in the present invention has obstacle information detecting function, can be according to being faced
Barrier the case where take specific decision, it is more intelligent compared with traditional avoidance trolley and avoidance robot.
Full landform movement sniffing robot in the present invention can realize autonomous pose recovery, be turned over during use
When vehicle situation, it can automatically take measures to be coped with to extricate oneself from a predicament.
Meanwhile because having done a large amount of work in controller, sensor, driver type selecting etc., the invention
It can stablize, cost is greatly reduced.Realize obstacle information detection, throwing over barrier, across gully type obstacle, autonomous posture
The multiple functions such as recovery, mobile working platform.
Description of the drawings
Fig. 1 is the first structure schematic diagram of full landform movement sniffing robot according to the present invention.
Fig. 2 is the second structural schematic diagram of full landform movement sniffing robot according to the present invention.
Fig. 3 is the third structural schematic diagram of full landform movement sniffing robot according to the present invention.
Fig. 4 is the 4th structural schematic diagram of full landform movement sniffing robot according to the present invention.
Fig. 5 is the 5th structural schematic diagram of full landform movement sniffing robot according to the present invention.
Fig. 6 is the 6th structural schematic diagram of full landform movement sniffing robot according to the present invention.
Fig. 7 is the composition schematic diagram of full landform movement sniffing robot according to the present invention.
Fig. 8 is the structural schematic diagram of the second embodiment of full landform movement sniffing robot according to the present invention.
Specific implementation mode
Below in conjunction with attached drawing, embodiments of the present invention is described in detail.
If Fig. 1 to full landform shown in fig. 7 moves sniffing robot, walked on flat road surface using wheeled construction,
It is walked on complicated road surface using track structure comprising wheeled component part, car body 3, chassis system, steering gear system, control
Device, environmental detecting system, power-supply system and driving motor processed, the car body are located at the top of the chassis system.
The driving motor includes Wheel type driving motor and caterpillar chassis driving motor.
The chassis system is located at the lower section of the car body, and the chassis system is using caterpillar chassis as robot
Crawler type component part, the chassis system include crawler belt 2, synchronous pulley, chassis supports frame and caterpillar chassis driving motor
1。
Preferably, the caterpillar chassis driving motor 1 includes the first caterpillar chassis driving motor 11 and the second crawler belt
Formula chassis driving motor 12, each caterpillar chassis driving motor is DC speed-reducing, i.e., the described caterpillar chassis is adopted
It is driven with DC speed-reducing, to make the full landform movement sniffing robot have complex road surface handling capacity.
The crawler body is driven using two DC speed-reducings.The crawler belt 2 includes the first crawler belt 21 and the
Two crawler belts 22.
The crawler body is that crawler frame integrates chassis, as shown in Figure 1, the chassis supports frame 4 includes first
Chassis supports frame 41 and the second chassis supports frame 42 are located at the both sides of 3 lower section of car body.Each chassis supports frame difference
Positioned at the inside of each crawler belt, described two caterpillar chassis driving motors are separately mounted on respective chassis supports frame, described
Each chassis supports frame is by fastener, for example, L-type connector, is connected to 3 lower section of the car body.
The synchronous pulley includes the first synchronous pulley 51 and the second synchronous pulley 52, and first synchronous pulley includes the
One driving wheel 511 and the first follower 512, first crawler belt 21 are mounted on 511 He of the first driving wheel of the first synchronous pulley
Between first follower 512, hole 6 is provided on the first crawler belt 21, the hole is intermeshed with the tooth on the first synchronous pulley.
Second synchronous pulley includes the second driving wheel 521 and the second follower 522, and second crawler belt 22 is mounted on
Between the second driving wheel 521 and the second follower 522 of second synchronous pulley, be provided with hole 6 on the second crawler belt 22, the hole with
Tooth intermeshing on second synchronous pulley.
First driving wheel 511 of first synchronous pulley be mounted on the first caterpillar chassis driving motor 11, i.e., first
DC speed-reducing, output shaft on, the first driven wheel 512 of first synchronous pulley is mounted on the first chassis supports frame 41
On, when the first DC speed-reducing rotates, the first crawler belt 21 is driven to be rotated.
Second driving wheel 521 of second synchronous pulley be mounted on the second caterpillar chassis driving motor 12, i.e., second
DC speed-reducing, output shaft on, the second driven wheel 522 of second synchronous pulley is mounted on the second chassis supports frame 42
On, when the second DC speed-reducing rotates, the second crawler belt 22 is driven to be rotated.
Wherein, the first driving wheel 511 in first synchronous pulley 51 and second in second synchronous pulley 52
Follower 522 is oppositely arranged, i.e. the first driven wheel 512 in the first synchronous pulley 51 and the in second synchronous pulley 52
Two driving wheels 521 are oppositely arranged.
Preferably, the rotation direction and speed for controlling the first DC speed-reducing and the second DC speed-reducing motor, with
Control advance, retrogressing, stopping and the left and right turn of the full landform movement sniffing robot.
The wheeled component part includes first support 7, second support 8, the first wheel 9 and the second wheel 10, and described
One holder 7 and second support 8 are located at the both ends of crawler type car body 3, and the first support 7 and second support 8 have pre-
If length, and the first support 7 and second support 8 can be rotated, and support crawler type car body 3 is configured to,
The height of the first support 7 and second support 8 can be selected according to practical application, and first wheel 9 is arranged
In the end of first support 7 of the first support 7 far from the car body 3, and second wheel 10 is arranged described second
The end of second support 8 of the holder 8 far from the car body 3；Preferably, the quantity of first wheel 9 is 2, distinguishes position
In the both sides of the first support 7, the quantity of second wheel 10 is two, is located at the both sides of second support 8.
The Wheel type driving motor the first Wheel type driving motor 100, the second Wheel type driving motor 101.Preferably, described each
Wheel type driving motor is DC speed-reducing.
The end of first support 7 of the first support 7 far from the car body 3 is rotatably connected to the first link 13, institute
State the first Wheel type driving motor 100 and the second Wheel type driving motor 101 be separately positioned on the first link both sides outside, institute
Each first wheel 9 is stated respectively to be connected with the output shaft of the first Wheel type driving motor 100 and the second Wheel type driving motor 101.It is described
First ultrasonic distance-measuring sensor be arranged when the first wheel lands described in the first outside of the link 13 far from the car body 3.
First link 13 is attached described first by the first post supports 131 and U-shaped support element 132
Post supports 131 are arranged in the lower section of first link 13 and 7 junction of first support, are configured to described in holding
The width of first support influences to turn between the first link and first support to prevent the width of the first link 13 from narrowing
Dynamic flexibility ratio.Meanwhile first columnar stays frame 131 play the role of support and limit to the movement of first support Part III.
The lower end in the inside of first link 13 is arranged in the U-shaped support element 132, the U-shaped support element 132
Two sides are parallel with the bottom edge of the first link respectively so that the bottom edge of the U-shaped support element 132 is connect with described first
Frame 13 is disposed vertically, and the first support plate 133 is connected on the bottom edge of the U-shaped supporting rack 132, is set in first support plate 133
Set the first ultrasonic distance-measuring sensor 90.
The first end of second link 14 is rotatablely connected to second support 8 by the first aluminium column far from the car body
3 end, it is preferable that the quantity of the first aluminium column is two.
The second post supports 142 are arranged in the second end of second link 14, and second post supports 142 are matched
The width for keeping second support is set, to prevent the width of the second link 13 from narrowing, influences the second link and second
Rotation flexibility ratio between frame.
Preferably, first wheel 9 is adhesion wheel, and first wheel relies on the first Wheel type driving motor and second
Wheel type driving motor is driven.
The steering gear system includes the first steering engine 201, the second steering engine 202, third steering engine 203, the 4th steering engine the 204, the 5th
Steering engine 205 and steering engine controller (not shown), the steering engine controller control the action of each steering engine, and the 4th steering engine
204 and second steering engine 202 torsion be more than 203 and first steering engine 201 of the third steering engine torsion.
Angle between first wheel and first support is adjusted by the 5th steering engine.5th steering engine
That is the 5th servo motor.The first support includes first part, second part and Part III, the first support first
It includes the first component and second component to divide, and the first support second part has bottom and two sides.The first support
Part III has bottom and two sides.
After third steering engine 203 is fixed on by the aluminium column at the top of it on first support first part second component,
First support first part second component is placed in first component Shang Shi first supports first part of first support first part
After one component and the overlapping of first support first part second component, by the first overlapping side of first support first part with it is described
Car body is rotatablely connected, and the first rotation connection is arranged between the first support first part and the first support second part
Portion, further, the other side of first rotating junction and the first support first part first component not connect with car body
Portion is affixed.First rotating junction be U-shaped structure, the bottom edge of the U-shaped structure of first rotating junction with first
Frame first part is affixed, the top of the U-shaped structure of first rotating junction side with first support second part respectively
Rotation connection.
4th steering engine is fixed to first support by the 4th steering engine by the aluminium column positioned at the 4th steering engine both sides
Two sides of two parts.
It is described by the second rotating junction between the first support second part and the first support Part III
Second rotating junction arranges in pairs, each second rotating junction respectively with the first support second part and described
One holder Part III is rotatablely connected, and opposite fortune is generated between first support second part and first support Part III to realize
It is dynamic.5th steering engine is fixed to first support Part III by the 5th steering engine by the aluminium column positioned at the 5th steering engine both sides
Two sides.
Preferably, in the mechanical heel part of the first support 7, further, in the mechanical heel of the first support
The 4th steering engine 204 is arranged in partial main force part, for example, digital rudder controller, realizes the tune of 7 rotation position of the first support
Whole, the 4th steering engine 204 is the 4th servo motor, and the 4th steering engine torsion is big and stability is good.In the institute of first support
The movable part for stating mechanical heel top uses third steering engine 203, the third steering engine, that is, third servo motor.Preferably,
The third steering engine is digital rudder controller.The third steering engine is configured to the first wheel 9 in first support 7 around first support axis
Turned position and the position of the first ultrasonic distance-measuring sensor are adjusted.
The second support includes first part and second part, the second support first part include the first component and
Second component, the second support second part have bottom and two sides.First steering engine 201 is passed through into the aluminium column at the top of it
After being fixed on second support first part second component, second support first part second component is placed in second support
After first part's first component Shang Shi second supports first part's first component and the second component overlapping of second support first part,
The first of second support first part overlapping side is rotatablely connected with the car body, the second support first part with it is described
Third rotating junction is set between second support second part, further, the third rotating junction and second support the
The other side of a part of first component not connect with car body is affixed.The third rotating junction is U-shaped structure, described the
The bottom edge of the U-shaped structure of three rotating junctions and second support first part are affixed, the U-shaped structure of the third rotating junction
Top respectively with the side of second support second part be rotatablely connected.
4th steering engine is fixed to first support by the 4th steering engine by the aluminium column positioned at the 4th steering engine both sides
Two sides of two parts.
Preferably, in the mechanical heel part of the second support 8, further, in the mechanical heel of the second support
The second steering engine 202 is arranged in partial main force part, for example, digital rudder controller, realizes the rotation position of the second support
Adjustment, second steering engine i.e. the second servo motor, the second steering engine torsion is big, and stability is good.
The first steering engine is used in the movable part of the mechanical heel top of second support, first steering engine i.e. the
One servo motor.Preferably, first steering engine 201 is digital rudder controller, and first steering engine is configured to in second support
Second wheel is adjusted around the position of the position that second support shaft rotation is moved and angular transducer.
Using steering engine controller, such as 32 road steering engine controllers, to control the angle of multigroup steering engine.
The controller is microcontroller；Preferably, the steering engine controller is AVR single chip, to make the full landform
Mobile sniffing robot can autonomously carry out the work of setting, the letter incoming to ultrasonic distance-measuring sensor and angular transducer
It number is analyzed, according to output control executive component, for example, caterpillar chassis driving motor, Wheel type driving motor and steering engine.
The environmental detecting system includes several ultrasonic sensors and angular transducer, is configured to help machine
People detects strange environment.
According to an embodiment of the invention, the environmental detecting system includes the first ultrasonic distance-measuring sensor 90 and the second surpasses
Sound ranging sensor 91 and third ultrasonic distance-measuring sensor 92, first ultrasonic distance-measuring sensor are arranged at first
Frame and the first wheel junction；Preferably, first ultrasonic distance-measuring sensor is arranged in the front of the wheel, into one
The quantity of step, first ultrasonic distance-measuring sensor is two.Second ultrasonic distance-measuring sensor and third ultrasonic wave
Distance measuring sensor is respectively set below the car body and at the first support, it is preferable that second ultrasonic ranging
Sensor is two, and the third ultrasonic distance-measuring sensor is two.
The angular transducer 93 is arranged in the inside of the car body comprising gyroscope and accelerometer, configuration are used
In the angle of the detection car body with respect to the horizontal plane.
By the 5th steering engine 205, drive the ultrasonic emission port of the first ultrasonic distance-measuring sensor 90 facing forward, and and remaining
Robot chassis supports are got up in steering engine cooperation, carry out the actions such as obstacle detouring of climbing to a higher point.
The master control borad of controller judges environmental information, example by receiving the range information of the ultrasonic sensor feedback
Such as barrier, steep cliff and gully, crossed over to realize that barrier is completed in a series of actions；Master control borad passes through receiving angle sensor
The angle information of feedback judges the posture of robot itself, and the normal attitude to complete itself restores automatically.
The power-supply system is decompression power supply system, and the power-supply system includes battery, and the battery is configured to as root
Electric energy is provided according to the full landform movement sniffing robot system of the present invention.Preferably, the battery includes the first battery and second
Battery, first battery and the second battery are the model airplane battery of 11.1V, wherein the first battery will by the first voltage reduction module
Voltage is down within the scope of the ceiling voltage that each steering engine allows, and ensures that each wheel electrical machine and steering engine have sufficient driving current, from
And can guarantee all steering engines has enough torques to rotate first support and second support and be visited in the full landform movement
Entire car body can be supported by surveying when robot is under wheeled state.Voltage is dropped to drive by the second battery by the second voltage reduction module
Dynamic motor, for example, the ceiling voltage that the Wheel type driving motor and master control borad of driving wheel allow, it is preferable that use the second battery
It is powered for the driving motor of the chassis system to solve the problems, such as that crawler body power consumption is more.
It is wheeled by first when the full landform movement sniffing robot uses track structure in complicated road surface walking
The location of driving motor moves the front of sniffing robot as the full landform, and the full landform is worked as during advancing
When mobile sniffing robot falls to the first inclination, angular transducer detects that first angle changing value, master control borad control first are watched
It takes motor and carries out rotation counterclockwise to realize the normal attitude for turning over to restore the full landform and moving sniffing robot；Work as institute
When stating full landform movement sniffing robot and toppling over to the second side, the angular transducer detects second angle changing value, master control
Plate control first servo motor is rotated clockwise is turning over to restore the full landform movement sniffing robot just to realize
Normal posture.
Full landform according to the second embodiment of the present invention moves sniffing robot, using wheeled construction on flat road
Face is walked, and is walked on complicated road surface using track structure comprising wheeled component part, car body 3, chassis system, steering engine
System, controller, environmental detecting system, power-supply system and driving motor, the car body are located at the top of the chassis system.
The driving motor includes Wheel type driving motor and caterpillar chassis driving motor.
The chassis system is located at the lower section of the car body, and the chassis system is using caterpillar chassis as robot
Crawler type component part, the chassis system include crawler belt, synchronous pulley, chassis supports frame and caterpillar chassis driving motor.
Preferably, the caterpillar chassis driving motor includes the first caterpillar chassis driving motor and the second crawler type bottom
Disk-drive motor, each caterpillar chassis driving motor is DC speed-reducing, i.e., the described caterpillar chassis uses direct current
Decelerating motor is driven, to make the full landform movement sniffing robot have complex road surface handling capacity.
The crawler body is driven using two DC speed-reducings.The crawler belt includes that the first crawler belt and second carry out
Band.
The crawler body be crawler frame integrate chassis, the chassis supports frame include the first chassis supports frame and
Second chassis supports frame, is located at the both sides below car body.Each chassis supports frame is located at the inside of each crawler belt,
Described two caterpillar chassis driving motors are separately mounted on respective chassis supports frame, and each chassis supports frame passes through tight
Firmware, for example, L-type connector, is connected to below the car body.
The synchronous pulley includes the first synchronous pulley and the second synchronous pulley, and first synchronous pulley includes the first master
Driving wheel and the first follower, first crawler belt are mounted between the first driving wheel and the first follower of the first synchronous pulley,
Hole is provided on first crawler belt, the hole is intermeshed with the tooth on the first synchronous pulley.
Second synchronous pulley includes the second driving wheel and the second follower, and second crawler belt is mounted on second and synchronizes
Between the second driving wheel and the second follower of belt wheel, be provided with hole on the second crawler belt, the hole on the second synchronous pulley
Tooth is intermeshed.
First driving wheel of first synchronous pulley is mounted on the first caterpillar chassis driving motor, i.e. the first direct current subtracts
Speed motor, output shaft on, the first driven wheel of first synchronous pulley is mounted on the first chassis supports frame, when first straight
When flowing decelerating motor rotation, the first crawler belt is driven to be rotated.
Second driving wheel of second synchronous pulley is mounted on the second caterpillar chassis driving motor, i.e. the second direct current subtracts
Speed motor, output shaft on, the second driven wheel of second synchronous pulley is mounted on the second chassis supports frame, when second straight
When flowing decelerating motor rotation, the second crawler belt is driven to be rotated.
Wherein, the first driving wheel in first synchronous pulley and the second follower phase in second synchronous pulley
To setting, i.e. the first driven wheel in the first synchronous pulley is oppositely arranged with the second driving wheel in second synchronous pulley.
Preferably, the rotation direction and speed for controlling the first DC speed-reducing and the second DC speed-reducing motor, with
Control advance, retrogressing, stopping and the left and right turn of the full landform movement sniffing robot.
The wheeled component part includes first support, second support, the first wheel and the second wheel, the first support
The both ends of crawler type car body are located at second support, the first support and second support have preset length, and
The first support and second support can be rotated, be configured to support crawler type car body, the first support and
The height of second support can be selected according to practical application, and the first wheel setting is separate in the first support
The end of the first support of the car body, and second in the second support far from the car body is arranged in second wheel
The end of frame；Preferably, the quantity of first wheel is 2, is located at the both sides of the first support, described second
The quantity of wheel is two, is located at the both sides of second support.
The first Wheel type driving motor of the Wheel type driving motor, the second Wheel type driving motor；Preferably, first wheel
For adhesion wheel, first wheel is driven by the first Wheel type driving motor and the second Wheel type driving motor.
Preferably, each Wheel type driving motor is DC speed-reducing.
The end of first support of the first support far from the car body is rotatably connected to the first link, and described first
Wheel type driving motor and the second Wheel type driving motor are separately positioned on the outside of the both sides of the first link, each first wheel
It is connected respectively with the output shaft of the first Wheel type driving motor and the second Wheel type driving motor.First ultrasonic distance-measuring sensor
Outside of first link far from the car body described in being arranged when the first wheel lands.
First link is attached first columnar stays by the first post supports and U-shaped support element
The width for being configured to keep the first support in the lower section of first link and first support junction is arranged in part
Degree influences the rotation flexibility ratio between the first link and first support to prevent the width of the first link from narrowing.Meanwhile
First columnar stays frame plays the role of support and limit to the movement of first support Part III.
The lower end in the inside of first link, two sides point of the U-shaped support element are arranged in the U-shaped support element
It is not parallel with the bottom edge of the first link so that the bottom edge of the U-shaped support element is disposed vertically with first link,
The first support plate is connected on the bottom edge of the U-shaped supporting rack, and the first ultrasonic distance-measuring sensor is set in first support plate.
The first end of second link is rotatablely connected by the first aluminium column to the separate car body of second support
End, it is preferable that the quantity of the first aluminium column is two.
The second post supports are arranged in the second end of second link, and second post supports are configured to protect
The width for holding second support influences to turn between the second link and second support to prevent the width of the second link from narrowing
Dynamic flexibility ratio.
The steering gear system include the first steering engine 201 ', the second steering engine 202 ', third steering engine 203 ', the 4th steering engine 204 ',
5th steering engine 205 ' and steering engine controller (not shown), the steering engine controller control the action of each steering engine, and described the
The torsion of four steering engines 204 ' and second steering engine 202 ' is more than the torsion of 203 ' and first steering engine 201 ' of the third steering engine, such as
Shown in Fig. 8.
Angle between first wheel and first support is adjusted by the 5th steering engine 205 '.Described 5th
The 5th servo motor of steering engine 205 ' i.e..The first support includes first part, second part and Part III, described first
Frame first part includes the first component and second component, and the first support second part has bottom and two sides.It is described
First support Part III has bottom and two sides.
After third steering engine 203 ' is fixed on by the aluminium column at the top of it on first support first part second component,
First support first part second component is placed in first component Shang Shi first supports first part of first support first part
After one component and the overlapping of first support first part second component, by the first overlapping side of first support first part with it is described
Car body is rotatablely connected, and the first rotation connection is arranged between the first support first part and the first support second part
Portion, further, the other side of first rotating junction and the first support first part first component not connect with car body
Portion is affixed.First rotating junction be U-shaped structure, the bottom edge of the U-shaped structure of first rotating junction with first
Frame first part is affixed, the top of the U-shaped structure of first rotating junction side with first support second part respectively
Rotation connection.
4th steering engine is fixed to first support by the 4th steering engine by the aluminium column positioned at the 4th steering engine both sides
Two sides of two parts.
It is described by the second rotating junction between the first support second part and the first support Part III
Second rotating junction arranges in pairs, each second rotating junction respectively with the first support second part and described
One holder Part III is rotatablely connected, and opposite fortune is generated between first support second part and first support Part III to realize
It is dynamic.5th steering engine 205 ' is fixed to first by the 5th steering engine 205 ' by being located at the aluminium column of 205 ' both sides of the 5th steering engine
Two sides of holder Part III.
Preferably, in the mechanical heel part of the first support, further, in the mechanical heel portion of the first support
The 4th steering engine 204 ' is arranged in the main force part divided, for example, digital rudder controller, realizes the tune of the first support rotation position
Whole, the 4th steering engine 204 ' i.e. the 4th servo motor, the 4th steering engine torsion is big and stability is good.In the institute of first support
The movable part for stating mechanical heel top uses third steering engine 203, the third servo motor of the third steering engine 203 ' i.e..It is preferred that
Ground, the third steering engine 203 ' are digital rudder controller.The third steering engine 203 ' be configured to the first wheel in first support around
First support axis turned position and the position of the first ultrasonic distance-measuring sensor are adjusted.
The second support includes first part and second part, the second support first part include the first component and
Second component, the second support second part have bottom and two sides.First steering engine 201 ' is passed through into the aluminium at the top of it
After column is fixed on second support first part second component, second support first part second component is placed in second
Frame first part first component Shang Shi second supports first part's first component and the second component overlapping of second support first part
Afterwards, the first of second support first part the overlapping side is rotatablely connected with the car body, the second support first part with
Third rotating junction is set between the second support second part, further, the third rotating junction with second
The other side of the frame first part first component not connect with car body is affixed.The third rotating junction is U-shaped structure, institute
Bottom edge and the second support first part for stating the U-shaped structure of third rotating junction are affixed, the U-shaped of the third rotating junction
The top of structure is rotatablely connected with the side of second support second part respectively.
4th steering engine is fixed to by the 4th steering engine 204 ' by being located at the aluminium column of 204 ' both sides of the 4th steering engine
Two sides of one bracket second portions.
Preferably, in the mechanical heel part of the second support, further, in the mechanical heel portion of the second support
The second steering engine 202 ' is arranged in the main force part divided, for example, digital rudder controller, realizes the tune of the rotation position of the second support
Whole, the second servo motor of second steering engine 202 ' i.e., the second steering engine torsion is big, and stability is good.
The first steering engine is used in the movable part of the mechanical heel top of second support, first steering engine i.e. the
One servo motor.Preferably, first steering engine 201 ' is digital rudder controller, and first steering engine is configured to in second support
Second wheel is adjusted around the position of the position that second support shaft rotation is moved and angular transducer.
Using steering engine controller, such as 32 road steering engine controllers, to control the angle of multigroup steering engine.
The controller is microcontroller；Preferably, the steering engine controller is AVR single chip, to make the full landform
Mobile sniffing robot can autonomously carry out the work of setting, the letter incoming to ultrasonic distance-measuring sensor and angular transducer
It number is analyzed, according to output control executive component, for example, caterpillar chassis driving motor, Wheel type driving motor and steering engine.
The environmental detecting system includes several ultrasonic sensors and angular transducer, is configured to help machine
People detects strange environment.
According to an embodiment of the invention, the environmental detecting system includes the first ultrasonic distance-measuring sensor and the second ultrasound
Wave distance measuring sensor and third ultrasonic distance-measuring sensor, first ultrasonic distance-measuring sensor setting is in first support and the
One wheel junction；Preferably, first ultrasonic distance-measuring sensor is arranged in the front of the wheel, further, described
The quantity of first ultrasonic distance-measuring sensor is two.Second ultrasonic distance-measuring sensor and third ultrasonic ranging sensing
Device is respectively set below the car body and at the first support, it is preferable that second ultrasonic distance-measuring sensor is
Two, and the third ultrasonic distance-measuring sensor is two.
The angular transducer is arranged in the inside of the car body comprising gyroscope and accelerometer are configured to
Detect the angle of the car body with respect to the horizontal plane.
By the 5th steering engine 205 ', drive the ultrasonic emission port of the first ultrasonic distance-measuring sensor facing forward, and and remaining
Robot chassis supports are got up in steering engine cooperation, carry out the actions such as obstacle detouring of climbing to a higher point.
The master control borad of controller judges environmental information, example by receiving the range information of the ultrasonic sensor feedback
Such as barrier, steep cliff and gully, crossed over to realize that barrier is completed in a series of actions；Master control borad passes through receiving angle sensor
The angle information of feedback judges the posture of robot itself, and the normal attitude to complete itself restores automatically.
The power-supply system is decompression power supply system, and the power-supply system includes battery, and the battery is configured to as root
Electric energy is provided according to the full landform movement sniffing robot system of the present invention.Preferably, the battery includes the first battery and second
Battery, first battery and the second battery are the model airplane battery of 11.1V, wherein the first battery will by the first voltage reduction module
Voltage is down within the scope of the ceiling voltage that each steering engine allows, and ensures that each wheel electrical machine and steering engine have sufficient driving current, from
And can guarantee all steering engines has enough torques to rotate first support and second support and be visited in the full landform movement
Entire car body can be supported by surveying when robot is under wheeled state.Voltage is dropped to drive by the second battery by the second voltage reduction module
Dynamic motor, for example, the ceiling voltage that the Wheel type driving motor and master control borad of driving wheel allow, it is preferable that use the second battery
It is powered for the driving motor of the chassis system to solve the problems, such as that crawler body power consumption is more.
It is wheeled by first when the full landform movement sniffing robot uses track structure in complicated road surface walking
The location of driving motor moves the front of sniffing robot as the full landform, and the full landform is worked as during advancing
When mobile sniffing robot falls to the first inclination, angular transducer detects that first angle changing value, master control borad control first are watched
It takes motor and carries out rotation counterclockwise to realize the normal attitude for turning over to restore the full landform and moving sniffing robot；Work as institute
When stating full landform movement sniffing robot and toppling over to the second side, the angular transducer detects second angle changing value, master control
Plate control first servo motor is rotated clockwise is turning over to restore the full landform movement sniffing robot just to realize
Normal posture.
Detailed process is as follows when the full landform movement sniffing robot carries out climbing up and over high-rise working：
When the first ultrasonic distance-measuring sensor, detect that front distance is less than the first setting value, master control borad is according to described the
The collected information of one ultrasonic sensor judges that there are barriers in front, while obtaining the full landform movement detection machine
The distance between people and barrier, it is preset that master control borad sends out the control signal control full landform movement sniffing robot execution
The action group of across obstacle is climbed to a higher point.
Preferably, the eminence of the barrier has plane, so that the car body can completely march in the plane.
When the full landform movement sniffing robot carries out climbing up and over high-rise working, it is as follows：
Step 1, that is, by the 4th servo motor, drives first support to be rotated to lift first by the 4th steering engine
Wheel stops lifting ac after the height that the height of first wheel reaches beyond the barrier peak；
Step 2, the full landform movement sniffing robot is by caterpillar chassis advance pre-determined distance, the 4th steering engine, i.e.,
4th servo motor drives first support rotation that the first wheel is made to fall in barrier eminence plane；
Step 3, the second steering engine, i.e. the second servo motor, rotation drive second support, are propped up by the second support
The car body；With second support car body prop up come, to the first wheel between first support angle be adjusted with
Just chassis is propped up to make its avoiding obstacles.
Step 4, the full landform movement sniffing robot are advanced by the first wheel and the second wheel, make entire car body
All aloft in plane, completion is climbed to a higher point to act and be completed.
When the full landform movement sniffing robot works across gully or steep cliff, it is as follows：
When the second ultrasonic distance-measuring sensor detects that distance is more than second below the full landform movement sniffing robot
Setting value, master control borad judge that front is steep cliff or ditch according to the information that second ultrasonic distance-measuring sensor monitors
Gully, master control borad send out control signal and control the action group that the full landform movement sniffing robot executes preset across obstacle
It carries out lower.
Wherein, it is as follows across steep cliff action：
Step 1, the 4th steering engine, i.e. the 4th servo motor drive first support to be rotated, and the first wheel is made to fall the
In one plane；
Step 2, the second steering engine, i.e. the second servo motor drive second support rotation that the second wheel is made to fall in the second plane
On, and the height of the first plane is less than the height of the second plane；
Step 3, the full landform movement sniffing robot are continuously advanced by the first wheel and the second wheel, Zhi Daosuo
It states car body and all falls on the first plane；
Preferably, during the full landform movement sniffing robot described in step 3 is continuously advanced, the 5th steering engine,
I.e. described 5th servo motor persistently adjusts the position of the first wheel.
Preferably, during the full landform movement sniffing robot described in step 3 is continuously advanced, first rudder
Machine, i.e. first servo motor persistently adjust the position of the second wheel.
The full landform moves sniffing robot and is acted across gully, and the car body is crossed over from third plane to Siping City
Face has gully, is as follows between the third plane and fourth plane：
Step 1, the car body are located in third plane, and by the 4th steering engine, i.e. the 4th servo motor drives first support
It is rotated, the first wheel is made to be dropped down onto in fourth plane across gully；
Step 2, by the second steering engine, i.e. the second servo motor, which drives second support to carry out rotation, makes the second wheel drop down onto
In third plane；
Step 3, the full landform movement sniffing robot is continuously advanced by the first wheel and the second wheel, until institute
It states ontology and reaches fourth plane across gully above gully.
The full landform movement sniffing robot is walked using wheeled construction on flat road surface, is existed using track structure
Complicated road surface walking, is as follows from crawler type to wheeled mutual handoff procedure：
The full landform movement sniffing robot is under crawler belt form, and first wheel and the second wheel are detached from ground
Face.
Stop after second wheel lands when the first steering engine rotates to, the 5th steering engine and the 4th steering engine rotate to first
Wheel lands, and the first support and second support collective effect support the car body to ensure that the car body is horizontal, this is
The action of row just completes the full landform and moves sniffing robot from crawler belt form to the switching of wheeled form.On this basis
Opposite action is done, the full landform is just completed and moves sniffing robot from wheeled form to the switching of crawler belt form.
Optimization, extension and the replacement of the present invention:
A. optimize the barrier that mechanical structure enables robot to cross various different heights, the obstacles such as steep cliff or gully
Object；
B. lighter material is replaced to mitigate the overall weight of robot；
C. the crawler body of robot is further optimized, such as changes the material and width of crawler belt, makes its power consumption
Reduce, passage rate is faster；
D. rotating speed and the faster motor of torque and steering engine are selected so that the sport efficiency of robot faster, is got in execution
Long task is more powerful and stablizes.
Finally it should be noted that：Above-described embodiments are merely to illustrate the technical scheme, rather than to it
Limitation；Although the present invention is described in detail referring to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：
It can still modify to the technical solution recorded in previous embodiment, or to which part or all technical features into
Row equivalent replacement；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side
The range of case.
Claims (9)
1. a kind of full landform moves sniffing robot, is walked on flat road surface using wheeled construction, existed using track structure
Complicated road surface walking, it is characterised in that：Including wheeled component part, car body, chassis system, steering gear system, controller, environment
Detection system, power-supply system and driving motor, the car body are located at the top of the chassis system；The driving motor includes
Wheel type driving motor and caterpillar chassis driving motor；
The chassis system includes crawler belt, synchronous pulley, chassis supports frame and caterpillar chassis driving motor, the synchronous pulley
Including driving wheel and driven wheel, the caterpillar chassis driving motor is mounted on chassis supports frame, the master of the synchronous pulley
Driving wheel is connected with the output shaft of the caterpillar chassis driving motor, and the crawler belt is engaged with the synchronous pulley, drives crawler belt
Movement；
The wheeled component part includes first support, second support, the first wheel and the second wheel, the first support and
Two holders are located at the both ends of crawler type car body, and the first support and second support have preset length, and described
First support and the second support can be rotated, and be configured to support the car body, the first wheel setting
In the end of first support of the first support far from the car body, and second wheel setting is remote in the second support
The end of second support from the car body；And
The Wheel type driving motor includes the first Wheel type driving motor and the second Wheel type driving motor；And based on first wheel
Motor car wheel, first wheel are driven by first Wheel type driving motor and second Wheel type driving motor；
The steering gear system includes the first steering engine, the second steering engine, third steering engine, the 4th steering engine, the 5th steering engine and steering engine controller,
The steering engine controller controls the action of each steering engine, and the torsion of the 4th steering engine and second steering engine is more than described
The torsion of third steering engine and the first steering engine；
The environmental detecting system includes the first ultrasonic distance-measuring sensor and the second ultrasonic distance-measuring sensor and third ultrasound
Wave distance measuring sensor, first ultrasonic distance-measuring sensor are arranged in first support and the first wheel junction；The angle
Sensor is arranged in the inside of the car body；
The master control borad of the controller judges environmental information by receiving the range information of the ultrasonic sensor feedback；It is main
Control plate judges the posture of robot itself by the angle information of receiving angle sensor feedback, to complete the normal of itself
Posture is restored automatically.
2. full landform as described in claim 1 moves sniffing robot, it is characterised in that：The caterpillar chassis driving motor
Including the first caterpillar chassis driving motor and the second caterpillar chassis driving motor, the crawler belt includes the first crawler belt and second
Crawler belt, the synchronous pulley include the first synchronous pulley and the second synchronous pulley, and the chassis supports frame includes the first chassis branch
Support and the second chassis supports frame, are located at the both sides below car body；Each chassis supports frame is located at each crawler belt
Inside, described two caterpillar chassis driving motors are separately mounted on respective chassis supports frame, each chassis supports
Frame is connected to by connector below the car body.
3. full landform as claimed in claim 2 moves sniffing robot, it is characterised in that：First synchronous pulley includes the
One driving wheel and the first follower, first crawler belt be mounted on the first synchronous pulley the first driving wheel and the first follower it
Between, hole is provided on the first crawler belt, the hole is intermeshed with the tooth on the first synchronous pulley；And
Second synchronous pulley includes the second driving wheel and the second follower, and second crawler belt is mounted on the second synchronous pulley
The second driving wheel and the second follower between, hole, the hole and the tooth phase on the second synchronous pulley are provided on the second crawler belt
Mutually engagement；
First driving wheel of first synchronous pulley is mounted on the output shaft of the first caterpillar chassis driving motor, and described the
First driven wheel of one synchronous pulley is mounted on the first chassis supports frame, when the first crawler type driving motor rotates, is driven
First crawler belt is rotated；
Second driving wheel of second synchronous pulley is mounted on the output shaft of the second caterpillar chassis driving motor, and described the
Second driven wheel of two synchronous pulleys is mounted on the second chassis supports frame, when the second crawler type driving motor rotates, is driven
Second crawler belt is rotated.
4. full landform as claimed in claim 3 moves sniffing robot, it is characterised in that：In first synchronous pulley
One driving wheel is oppositely arranged with the second follower in second synchronous pulley, and first in first synchronous pulley from
Driving wheel is oppositely arranged with the second driving wheel in second synchronous pulley.
5. full landform as claimed in claim 4 moves sniffing robot, it is characterised in that：The first support is far from the vehicle
The end of the first support of body is rotatably connected to the first link, first Wheel type driving motor and the second Wheel type driving motor
Be separately positioned on the outside of the both sides of first link, each first wheel respectively with the first Wheel type driving motor and
The output shaft of two Wheel type driving motors is connected；First ultrasonic distance-measuring sensor be arranged when the first wheel lands described in the
Outside of one link far from the car body；Angle between first wheel and the first support passes through the 5th rudder
Machine is adjusted；
First link is attached first post supports and is set by the first post supports and U-shaped support element
The width for being configured to keep the first support in the lower section of first link and first support junction is set, with
It prevents the width of the first link from narrowing, influences rotation flexibility ratio and the first column between the first link and first support
Supporting rack plays the role of support and limit to the movement of first support Part III；
The U-shaped support element is arranged the lower end in the inside of first link, two sides of the U-shaped support element respectively with
The bottom edge of first link is parallel so that the bottom edge of the U-shaped support element is disposed vertically with first link, described
The first support plate is connected on the bottom edge of U-shaped supporting rack, and the first ultrasonic distance-measuring sensor is set in first support plate.
6. full landform as claimed in claim 5 moves sniffing robot, it is characterised in that：The first end of second link
It is rotatablely connected to the end far from the car body of the second support by the first aluminium column；
The second end of second link is arranged the second post supports, and second post supports are configured to holding the
The width of two holders influences second link and the second support to prevent the width of second link from narrowing
Between rotation flexibility ratio.
7. full landform as claimed in claim 6 moves sniffing robot, it is characterised in that：The first support includes first
Divide, second part and Part III, the first support first part include the first component and second component, the first support
There are second part bottom and two sides, the first support Part III to have bottom and two sides；
After the third steering engine is fixed on by the aluminium column at the top of it on first support first part second component, by
One holder first part second component is placed in first component Shang Shi first supports first part of first support first part first
After part and the second component overlapping of first support first part, by the first overlapping side of first support first part and the car body
Rotation connection, is arranged the first rotating junction, institute between the first support first part and the first support second part
It is affixed to state the first rotating junction and the other side of the first support first part first component；First rotating junction is
U-shaped structure, the bottom edge of the U-shaped structure of first rotating junction and first support first part are affixed, first rotation
The top of the U-shaped structure of interconnecting piece is rotatablely connected with the side of first support second part respectively；
4th steering engine is fixed to first support second by the 4th steering engine by the aluminium column positioned at the 4th steering engine both sides
Two sides being divided to；
By the second rotating junction between the first support second part and the first support Part III, described second
Rotating junction arranges in pairs, each second rotating junction respectively with the first support second part and first described
Frame Part III is rotatablely connected, and relative motion is generated between first support second part and first support Part III to realize,
5th steering engine is fixed to first support Part III by the 5th steering engine by the aluminium column positioned at the 5th steering engine both sides
Two sides.
8. full landform as claimed in claim 7 moves sniffing robot, it is characterised in that：The second support includes first
Divide and second part, the second support first part include the first component and second component, the second support second part
With bottom and two sides；First steering engine is fixed on the second support first part by the aluminium column at the top of it
After on two components, second support first part second component, which is placed on the second support first part first component, makes second support
After first part's first component and the second component overlapping of second support first part, by the first overlapping of second support first part
Side is rotatablely connected with the car body, and third is arranged between the second support first part and the second support second part
Rotating junction, the other side of the third rotating junction and the second support first part first component not connect with car body
Portion is affixed；The third rotating junction be U-shaped structure, the bottom edge of the U-shaped structure of the third rotating junction with second
Frame first part is affixed, the top of the U-shaped structure of the third rotating junction side with second support second part respectively
Rotation connection；
4th steering engine is fixed to first support second by the 4th steering engine by the aluminium column positioned at the 4th steering engine both sides
Two sides being divided to.
9. full landform as claimed in claim 8 moves sniffing robot, it is characterised in that：The power-supply system includes battery,
The battery is configured to provide electric energy to move sniffing robot system according to the full landform of the present invention；The battery includes the
One battery and the second battery, first battery and the second battery are the model airplane battery of 11.1V, wherein the first battery passes through
Voltage is down within the scope of the ceiling voltage that each steering engine allows by one voltage reduction module, and ensures that each wheel electrical machine and steering engine have abundance
Driving current, to can guarantee the torque of each steering engine to rotate the first support and the second support and in the full landform
Mobile sniffing robot can support entire car body when being under wheeled state, second battery will by the second voltage reduction module
Voltage drops to driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810677692.1A CN108556939B (en) | 2018-06-27 | 2018-06-27 | All-terrain mobile detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810677692.1A CN108556939B (en) | 2018-06-27 | 2018-06-27 | All-terrain mobile detection robot |
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