CN108908277A - A kind of adaptive walking sniffing robot - Google Patents
A kind of adaptive walking sniffing robot Download PDFInfo
- Publication number
- CN108908277A CN108908277A CN201810469324.8A CN201810469324A CN108908277A CN 108908277 A CN108908277 A CN 108908277A CN 201810469324 A CN201810469324 A CN 201810469324A CN 108908277 A CN108908277 A CN 108908277A
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- China
- Prior art keywords
- support wheel
- mechanical arm
- wheel
- robot
- electromagnet
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of adaptive walking sniffing robots, it includes composite extendible blade wheel（1）, chassis（2）, mechanical arm（3）, rotating platform（4）, camera（5）And Auxiliary support wheel apparatus（6）.Walking of the robot under different terrain and road conditions can be achieved in the present invention, and the landform encountered is detected, either there is the ground of larger pit, either ladder all has the ability to cope with, and precipitous palisades can be climbed by mechanical arm, danger zone can be entered to be detected, and structure is simple, high reliablity.
Description
Technical field
The present invention relates to a kind of robot, specifically a kind of adaptive walking explorer with support wheel and mechanical arm
Device people.
Background technique
Present sniffing robot is compared in special environment largely using fixed common wheel as running gear
If any larger pit ground when be unable to reach the job requirement quickly walked, and precipitous palisades can not be climbed, hinder
Hinder normal work, cannot achieve the detection of danger zone.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of with the adaptive of support wheel and mechanical arm
Sniffing robot walk, it can be achieved that walking of the robot under different terrain and road conditions, and the landform encountered is detected,
Either have larger pit ground or ladder all have the ability reply, and by mechanical arm can climb it is precipitous
Palisades can enter danger zone and be detected, and structure is simple, high reliablity.
To achieve the goals above, the technical solution adopted by the present invention is that：A kind of adaptive walking sniffing robot, can
Realize the movement and detection of various landform, which is characterized in that it includes composite extendible blade wheel, chassis, mechanical arm, rotation
Platform, camera and Auxiliary support wheel apparatus.
The composite extendible blade wheel includes rubber tyre matrix, bearing, electromagnetic spring and rubber tree leaf；Rubber
Tire substrate is mounted on chassis by bearing；Rubber tree leaf is connect by electromagnetic spring with rubber tyre matrix, and control is passed through
The pop-up and contraction of rubber tree leaf may be implemented in the power on/off of electromagnet, and when rubber tree leaf is shunk, blade wheel forms a circle
Shape is conducive to move on level land, and when encountering has biggish pit-hole, blade pop-up can jump out pit-hole, expand diameter of tyres,
Abrupt slope and ladder can also be dealt with.
The mechanical arm includes mechanical arm and manipulator, and mechanical arm uses 6 shaft mechanical arms, the machine being mounted on chassis
On frame, and it is located at the center of entire robot, the length of arm, which will reach, all to exceed robot in any angle
Fuselage range guarantees to catch ground in any position, and manipulator is mounted on the end of mechanical arm, using 4 claw manipulators.
The rotating platform includes bracket, servo motor and circular platform, and bracket is watched by being welded and fixed on plate
It takes on the rack-mount motor cabinet of motor, camera is installed on circular platform, rotated by servo motor band moving platform, and
Realization is precisely controlled, and allows camera is comprehensive meticulously to observe road conditions.
The Auxiliary support wheel apparatus includes guide rail, rack gear, support wheel longitudinal moving device, support wheel rotation and decentralization
Device and support wheel；Guide rail is welded on chassis；Rack gear is mounted on the inside of guide rail;Support wheel longitudinal moving device by gear,
Motor and mounting base are constituted, and are rotated by motor driven gear, are realized the longitudinal movement of support wheel；Support wheel rotation and decentralization dress
Set by rotating electric machine, lower Electrical Discharge Machine and mounting frame at, rotating electric machine is mounted on the mounting base of support wheel longitudinal moving device
On, realize that the pose of support wheel adjusts by the rotation of rotating electric machine and lower Electrical Discharge Machine；Support wheel is by common wheel and support rod
Constitute, be mounted on support wheel rotation and downward putting device lower Electrical Discharge Machine on, can Auxiliary support robot, guarantee the shifting of robot
It is dynamic steady.
The electromagnetic spring includes permanent magnet, insulated spring and electromagnet, and permanent magnet is welded on blade；Electromagnet
It on fixed blade wheel wheel hub, and is connect by switch with built-in power, the magnetic control of electromagnet can be realized by switch, absolutely
The both ends of edge spring are welded on permanent magnet and electromagnet, biggish elastic force can be generated in compression process, so that robot
Pit-hole can be jumped out.
Detailed description of the invention
Fig. 1 is a kind of adaptive walking sniffing robot with support wheel and mechanical arm provided in an embodiment of the present invention
Schematic illustration；
In figure：1, composite extendible blade wheel, 2, chassis, 3, mechanical arm, 4, rotating platform, 5, camera, 6, Auxiliary support
Wheel apparatus.
Fig. 2 is composite extendible blade wheel schematic illustration provided in an embodiment of the present invention；
In figure：1.1, rubber tyre matrix, 1.2, bearing, 1.3, electromagnetic spring, 1.4, rubber tree leaf.
Fig. 3 is mechanical arm schematic illustration provided in an embodiment of the present invention；
In figure：3.1, mechanical arm, 3.2, manipulator.
Fig. 4 is rotating platform schematic illustration provided in an embodiment of the present invention；
In figure：4.1, paralell, 4.2, servo motor, 4.3, circular platform.
Fig. 5 is auxiliary support wheel principle of device schematic diagram provided in an embodiment of the present invention；
In figure：6.1, guide rail, 6.2, rack gear, 6.3 support wheels longitudinal movement transposition, 6.4, support wheel rotation and downward putting device,
6.5, support wheel.
Fig. 6 is electromagnetic spring schematic illustration provided in an embodiment of the present invention；
In figure：1.4.1, permanent magnet, 1.4.2, insulated spring, 1.4.3, electromagnet.
Fig. 7 is composite extendible blade wheel contraction state schematic diagram provided in an embodiment of the present invention；
Fig. 8 is that composite extendible blade wheel provided in an embodiment of the present invention flicks status diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, being that a kind of adaptive walking with support wheel and mechanical arm provided in an embodiment of the present invention is visited
Robot schematic illustration is surveyed, it includes composite extendible blade wheel 1, chassis 2, mechanical arm 3, rotating platform 4, camera 5
And Auxiliary support wheel apparatus 6.Walking of the robot under different terrain and road conditions can be achieved in the present invention, and to the ground encountered
Shape is detected, and either has the ground of larger pit or ladder all to have the ability to cope with, and can by mechanical arm
Precipitous palisades are climbed, danger zone can be entered and detected, and structure is simple, high reliablity.
Referring to Fig. 2, being that a kind of adaptive walking with support wheel and mechanical arm provided in an embodiment of the present invention is visited
The composite extendible blade wheel schematic illustration of robot is surveyed, it includes rubber tyre matrix 1.1, bearing 1.2, electromagnetic spring
1.3 and rubber tree leaf 1.4；Rubber tyre matrix 1.1 is mounted on chassis 2 by bearing 1.6；Rubber tree leaf 1.4 passes through electricity
Magnetic spring 1.3 is connect with rubber tyre matrix 1.1, and by controlling the power on/off of electromagnet, the bullet of rubber tree leaf 1.4 may be implemented
Out and shrink, when rubber tree leaf 1.4 shrink when blade wheel formed a circle be conducive to move on level land, when encounter have it is larger
Pit-hole when, blade pop-up can jump out pit-hole, expand diameter of tyres, can also deal with to abrupt slope and ladder.
Referring to Fig. 3, being that a kind of adaptive walking with support wheel and mechanical arm provided in an embodiment of the present invention is visited
The mechanical arm schematic illustration of robot is surveyed, it includes mechanical arm 3.1 and manipulator 3.2；Mechanical arm 3.1 uses 6 shaft mechanicals
Arm is mounted in the rack on chassis, and is located at the center of entire robot, and the length of arm will reach can be in office
What angle all exceeds robot fuselage range, guarantees to catch ground in any position, manipulator 3.2 is mounted on mechanical arm
3.1 end, using 4 claw manipulators.
Referring to Fig. 4, being that a kind of adaptive walking with support wheel and mechanical arm provided in an embodiment of the present invention is visited
The rotating platform schematic illustration of robot is surveyed, it includes paralell 4.1, servo motor 4.2 and circular platform 4.3；Platform
Frame 4.1 is by being welded and fixed on plate 3.4；Servo motor 4.2 is mounted on paralell 4.1 on motor cabinet；On circular platform 4.3
Camera 5 is installed, is rotated by servo motor band moving platform, and realize and be precisely controlled, so that camera can be with comprehensive thin
Cause ground observation road conditions.
Referring to Fig. 5, being that a kind of adaptive walking with support wheel and mechanical arm provided in an embodiment of the present invention is visited
The auxiliary support wheel principle of device schematic diagram of robot is surveyed, it includes guide rail 6.1, rack gear 6.2, support wheel longitudinal moving device
6.3, support wheel rotation and downward putting device 6.4 and support wheel 6.5；Guide rail 6.1 is welded on chassis 2；Rack gear 6.2, which is mounted on, leads
6.1 inside of rail;Support wheel longitudinal moving device 6.3 is made of gear, motor and mounting base, is rotated by motor driven gear,
Realize the longitudinal movement of support wheel；Support wheel rotation and downward putting device 6.4 by rotating electric machine, lower Electrical Discharge Machine and mounting frame at,
Rotating electric machine is mounted in the mounting base of support wheel longitudinal moving device 6.3, real by the rotation of rotating electric machine and lower Electrical Discharge Machine
The pose adjustment of existing support wheel 6.5；Support wheel 6.5 is made of common wheel and support rod, is mounted on support wheel rotation and decentralization
On the lower Electrical Discharge Machine of device 6.4, can Auxiliary support robot, guarantee that the movement of robot is steady.
Referring to Fig. 6, being that a kind of adaptive walking with support wheel and mechanical arm provided in an embodiment of the present invention is visited
The electromagnetic spring schematic illustration of robot is surveyed, it includes permanent magnet 1.4.1, insulated spring 1.4.2 and electromagnet 1.4.3；
Permanent magnet 1.4.1 is welded on blade 1.3；On electromagnet 1.4.3 fixed blade wheel wheel hub 1.5, and pass through switch and in-built electrical
Source connection can realize the magnetic control of electromagnet by switch；The both ends of insulated spring 1.4.2 are welded on permanent magnet 1.4.1
On electromagnet 1.4.3, biggish elastic force can be generated in compression process, robot is allowed to jump out pit-hole.
Fig. 7-8 is please referred to, is a kind of adaptive walking with support wheel and mechanical arm provided in an embodiment of the present invention
The electromagnetic spring of sniffing robot shrinks and flicks state schematic illustration, and electromagnet is powered, compressed spring, so that tire is formed
One circle, so that robot is suitable for falling into pit-hole when encountering in level land movement, when electromagnet powers off, spring generates elastic force, real
The spring of existing robot, and increase diameter of tyres.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (6)
1. a kind of adaptive walking sniffing robot, it includes composite extendible blade wheel（1）, chassis（2）, mechanical arm（3）,
Rotating platform（4）, camera（5）And Auxiliary support wheel apparatus（6）;Row of the robot under different terrain and road conditions can be achieved
It walks, and the landform encountered is detected, either there is the ground of larger pit or ladder all to have the ability to cope with, and
And precipitous palisades can be climbed by mechanical arm, danger zone can be entered and detected, and structure is simple, reliability
It is high.
2. a kind of adaptive walking sniffing robot according to claim 1, which is characterized in that the composite extendible
Blade wheel（1）Including rubber tyre matrix（1.1）, bearing（1.2）, electromagnetic spring（1.3）And rubber tree leaf（1.4）；Rubber
Tire substrate（1.1）Pass through bearing（1.6）It is mounted on chassis（2）On；Rubber tree leaf（1.4）Pass through electromagnetic spring（1.3）With rubber
Glue tire substrate（1.1）Rubber tree leaf may be implemented by controlling the power on/off of electromagnet in connection（1.4）Pop-up and contraction,
Work as rubber tree leaf（1.4）Blade wheel forms a circle and is conducive to move on level land when contraction, has biggish pit-hole when encountering
When, blade pop-up can jump out pit-hole, expand diameter of tyres, can also deal with to the stone road and ladder being relatively difficult to walk away.
3. a kind of adaptive walking sniffing robot according to claim 1, which is characterized in that the mechanical arm
（3）Including mechanical arm（3.1）And manipulator（3.2）, mechanical arm（3.1）Using 6 shaft mechanical arms, the rack being mounted on chassis
On, and it is located at the center of entire robot, the length of arm will reach that can all to exceed machine in any angle man-machine
Body range guarantees to catch ground in any position, manipulator（3.2）It is mounted on mechanical arm（3.1）End, using 4 pawls
Formula manipulator.
4. a kind of adaptive walking sniffing robot according to claim 1, which is characterized in that the rotating platform
（4）Including bracket（4.1）, servo motor（4.2）And circular platform（4.3）；Bracket（4.1）By the way that plate is welded and fixed
（3.4）On；Servo motor（4.2）It is mounted on bracket（4.1）On upper motor cabinet；Circular platform（4.3）On camera is installed
（5）, rotated by servo motor band moving platform, and realize and be precisely controlled, allow camera is comprehensive meticulously to observe road
Condition.
5. a kind of adaptive walking sniffing robot according to claim 1, which is characterized in that the auxiliary support wheel
Device（6）Including guide rail（6.1）, rack gear（6.2）, support wheel longitudinal moving device（6.3）, support wheel rotation and downward putting device
（6.4）And support wheel（6.5）；Guide rail（6.1）It is welded on chassis（2）On；Rack gear（6.2）It is mounted on guide rail（6.1）Inside;
Support wheel longitudinal moving device（6.3）It is made of gear, motor and mounting base, is rotated by motor driven gear, realize support
Take turns the longitudinal movement of (6.5)；Support wheel rotation and downward putting device（6.4）By rotating electric machine, lower Electrical Discharge Machine and mounting frame at rotation
Rotating motor is mounted on support wheel longitudinal moving device（6.3）Mounting base on, it is real by the rotation of rotating electric machine and lower Electrical Discharge Machine
Existing support wheel（6.5）Pose adjustment；Support wheel（6.5）Be made of common wheel and support rod, be mounted on support wheel rotation and
Downward putting device（6.4）Lower Electrical Discharge Machine on, can Auxiliary support robot, guarantee that the movement of robot is steady.
6. a kind of adaptive walking sniffing robot according to claim 1, which is characterized in that the electromagnetic spring
（1.4）Including permanent magnet（1.4.1）, insulated spring（1.4.2）And electromagnet（1.4.3）；Permanent magnet（1.4.1）It is welded on leaf
Piece（1.3）On；Electromagnet（1.4.3）Fixed blade wheel wheel hub（1.5）On, and connect by switch with built-in power, Ke Yitong
Cross the magnetic control that switch realizes electromagnet；Insulated spring（1.4.2）Both ends be welded on permanent magnet（1.4.1）And electromagnet
（1.4.3）On, biggish elastic force can be generated in compression process, and robot is allowed to jump out pit-hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810469324.8A CN108908277A (en) | 2018-05-16 | 2018-05-16 | A kind of adaptive walking sniffing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810469324.8A CN108908277A (en) | 2018-05-16 | 2018-05-16 | A kind of adaptive walking sniffing robot |
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| CN108908277A true CN108908277A (en) | 2018-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810469324.8A Pending CN108908277A (en) | 2018-05-16 | 2018-05-16 | A kind of adaptive walking sniffing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110540070A (en) * | 2019-09-09 | 2019-12-06 | 广东博智林机器人有限公司 | Front support mechanism of transfer robot |
| CN113602375A (en) * | 2021-09-14 | 2021-11-05 | 北京理工大学 | Wheel leg combined type wheel with variable structure |
| CN117885104A (en) * | 2023-03-01 | 2024-04-16 | 江苏和为警用器材制造有限公司 | Throwing robot with ejection function |
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| CN107247455A (en) * | 2017-06-07 | 2017-10-13 | 金华市兴飞机器人有限公司 | A kind of multi-environment adapts to sniffing robot and its method for carrying out railway maintenance |
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Patent Citations (5)
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| CN102099157A (en) * | 2008-08-01 | 2011-06-15 | 豪雅机器人有限公司 | Small mobile robot with built-in auxiliary wheel for overcoming topography |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110540070A (en) * | 2019-09-09 | 2019-12-06 | 广东博智林机器人有限公司 | Front support mechanism of transfer robot |
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| CN113602375A (en) * | 2021-09-14 | 2021-11-05 | 北京理工大学 | Wheel leg combined type wheel with variable structure |
| CN117885104A (en) * | 2023-03-01 | 2024-04-16 | 江苏和为警用器材制造有限公司 | Throwing robot with ejection function |
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Application publication date: 20181130 |