CN109823424A - A kind of caterpillar type robot with speeling stairway function - Google Patents
A kind of caterpillar type robot with speeling stairway function Download PDFInfo
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- CN109823424A CN109823424A CN201910202600.9A CN201910202600A CN109823424A CN 109823424 A CN109823424 A CN 109823424A CN 201910202600 A CN201910202600 A CN 201910202600A CN 109823424 A CN109823424 A CN 109823424A
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- 230000007246 mechanism Effects 0.000 claims abstract description 137
- 210000000245 forearm Anatomy 0.000 claims description 23
- 210000000323 shoulder joint Anatomy 0.000 claims description 17
- 230000008878 coupling Effects 0.000 claims description 3
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- 230000009194 climbing Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 11
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- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000004069 differentiation Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The present invention provides a kind of caterpillar type robots with speeling stairway function comprising front end walking mechanism, chassis, rear end walking mechanism, front-end servo motor and rear end servo motor；Front end walking mechanism and rear end walking mechanism are connected with chassis by bearing respectively, front-end servo motor and rear end servo motor are fixedly connected on chassis, fixed-axis rotation is carried out relative to chassis to control front end walking mechanism and rear end walking mechanism respectively, front end walking mechanism and rear end walking mechanism are provided with driving motor to control the movement of the caterpillar type robot with speeling stairway function.Caterpillar type robot provided by the invention has the function of quick and stable speeling stairway, and small volume, structure are simple, except can also adapt to different stairway forms in addition to even running on level land, has extremely strong obstacle climbing ability.In addition to this, which is provided with mechanical arm, to realize that article grabs, the function of placement.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of caterpillar type robot with speeling stairway function.
Background technique
Stair and stairstepping building are seen everywhere in life, although some wheeled, caterpillar type robots have centainly
Obstacle climbing ability, it can be difficult to reply the biggish stair of the gradient.What is occurred at present is some with the robot for climbing building function, such as row
Star wheel type robot, planetary gear make that robot volume is larger, structure is complicated in order to adapt to stairway form, are not suitable for narrow
Environment work, and its level walking performance is poor.And some traditional caterpillar type robots equally exist volume compared with
Greatly, the drawbacks such as steering is not flexible, and the speed of travel is slow.Based on the above, proposing a kind of crawler type machine with speeling stairway function
Device people.
The above-mentioned statement to background technique is merely for convenience, and to technical solution of the present invention, (technological means that uses is solved
The technical issues of and the technical effect of generation etc.) deep understanding, and be not construed as recognizing or in any form
Imply that the information constitutes the prior art known to those skilled in the art.
Summary of the invention
Mesh of the invention, which is to provide one kind, can have the function of the crawler type machine of quick and stable speeling stairway and small volume
Device people.
Technical solution of the present invention:
A kind of caterpillar type robot with speeling stairway function, including front end walking mechanism, chassis, rear end vehicle with walking machine
Structure, front-end servo motor and rear end servo motor；The front end walking mechanism and the rear end walking mechanism respectively with the bottom
Disk is connected by bearing, and the front-end servo motor and the rear end servo motor are fixedly connected on the chassis, to
The front end walking mechanism and the rear end walking mechanism are controlled respectively carries out fixed-axis rotation, the front end relative to the chassis
Walking mechanism and the rear end walking mechanism are provided with driving motor to control the crawler type with speeling stairway function
The movement of robot.
Further, the front end walking mechanism is identical with the rear end walking mechanism structure, respectively includes the first shoe
Band mechanism, the second pedrail mechanism, rotating shaft and rotating shaft involute spur gear, wherein the both ends of the rotating shaft respectively with institute
The first pedrail mechanism to be stated to be fixedly connected with second pedrail mechanism, the rotating shaft is connected with the chassis by bearing,
And then the front end walking mechanism and the rear end walking mechanism is made to be connected with the chassis, the rotating shaft involute spur
Wheel is fixedly connected on the rotating shaft.
Further, first pedrail mechanism and second pedrail mechanism respectively include wheel frame plate, DC driven electricity
Machine, driving wheel, one or more driven wheels, crawler belt, wherein the direct-drive motor is connected to the side of the wheel frame plate
The output rotor in face, the direct-drive motor is stretched out by the aperture on the wheel frame plate；The driving wheel is located at the wheel
Frame plate another side, the driving wheel are connect by shaft coupling with the output rotor of the driving motor；The driven wheel connection
In on the wheel frame plate, rotation is driven by the driving wheel；The crawler belt is centered around the driving wheel and the driven wheel
On, the both ends of the rotating shaft are fixed with the wheel frame plate of first pedrail mechanism and second pedrail mechanism respectively to be connected
It connects, by driving the rotating shaft involute spur gear to rotate wheel frame plate around the rotating shaft.
Further, the rotor output of the front-end servo motor and the rear end servo motor is provided with servo electricity
Machine involute spur gear, the servo motor involute spur gear are engaged with the rotating shaft involute spur gear.
Further, motor rack, the front-end servo motor and the rear end are provided on the downside on the chassis
Servo motor is fixedly connected on motor rack.
Further, the caterpillar type robot with speeling stairway function is provided with mechanical arm, and the mechanical arm is set
The upper surface on the chassis is set, to grab and place article.
Further, the mechanical arm includes firm banking, rotating base, large arm, large-arm joint, forearm, forearm pass
Section, handgrip and multiple steering engines, the firm banking, the rotating base, the large arm, the large-arm joint, the forearm, institute
It states to be sequentially connected between small shoulder joint, the handgrip and connect, controlled between above-mentioned each component respectively by corresponding steering engine
It relatively rotates.
Further, the caterpillar type robot with speeling stairway function is provided with sensor module, processing module
And motion-control module, the sensor module, the processing module and the motion-control module are arranged on chassis,
In, the sensor module and the motion-control module are connect with the processing module respectively, and the sensor module is used for
Measuring and calculating distance and/or article volume, the processing module receive the signal of the sensor module, signal export after processing to
The motion-control module passes through the fortune of moving control module for controlling front end walking mechanism and the rear end walking mechanism
It is dynamic, and the rotation of the control mechanical arm, and crawl and placement article.
The beneficial effects of the present invention are: a kind of caterpillar type robot with speeling stairway function of the invention passes through institute
State front end walking mechanism, rear end walking mechanism, between chassis by two servo motors control respectively the front end walking mechanism, after
Fixed-axis rotation of the walking mechanism relative to the chassis is held, while controlling crawler belt respectively under the driving of four direct-drive motors
Rotation to realize the movement of speeling stairway, to reach the function of the caterpillar type robot speeling stairway.The crawler type machine
Device people is the crawler type mechanism that can have the function of quick and stable speeling stairway and small volume, and removing can the even running on level land
Different stairway forms is also adapted to outside, there is extremely strong obstacle climbing ability.And the structure of the caterpillar type robot is simple, volume
The function of speeling stairway that is smaller, can be realized quick and stable.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the caterpillar type robot with speeling stairway function in the embodiment of the present invention.
Fig. 2 is the knot of the front end walking mechanism of the caterpillar type robot with speeling stairway function in the embodiment of the present invention
Structure schematic diagram.
Fig. 3 is front end walking mechanism and the bottom of the caterpillar type robot with speeling stairway function in the embodiment of the present invention
The structural schematic diagram cooperated between disk.
Fig. 4 is the structural representation of the mechanical arm of the caterpillar type robot with speeling stairway function in the embodiment of the present invention
Figure.
Fig. 5 required master in speeling stairway for the caterpillar type robot with speeling stairway function in the embodiment of the present invention
Want the schematic diagram of structure.
Fig. 6 is that the front end walking mechanism of the caterpillar type robot with speeling stairway function in the embodiment of the present invention is connecing
Touch schematic diagram when the first stage rank.
Fig. 7 is front end walking mechanism and the bottom of the caterpillar type robot with speeling stairway function in the embodiment of the present invention
Schematic diagram when disk is lifted up.
Fig. 8 is that the front end walking mechanism of the caterpillar type robot with speeling stairway function in the embodiment of the present invention is climbed up
Schematic diagram when the first stage rank.
Fig. 9 is that the front end walking mechanism of the caterpillar type robot with speeling stairway function in the embodiment of the present invention is connecing
Touch schematic diagram when second-order step.
Figure 10 is the rear end walking mechanism lift of the caterpillar type robot with speeling stairway function in the embodiment of the present invention
Play schematic diagram when the first stage rank of contact.
Figure 11 is that the rear end walking mechanism of the caterpillar type robot with speeling stairway function in the embodiment of the present invention is climbed
Schematic diagram when upper first stage rank.
Figure 12 is that the front end walking mechanism of the caterpillar type robot with speeling stairway function in the embodiment of the present invention is opened
Begin to climb schematic diagram when third rank stair.
In figure: 1 front end walking mechanism；2 chassis；3 rear end walking mechanisms；4 mechanical arms；5 front-end servo motors；It watches 6 rear ends
Take motor；7 first pedrail mechanisms；8 second pedrail mechanisms；9 rotating shafts；10 rotating shaft involute spur gears；11 wheel frame plates；12 is straight
Flow driving motor；13 driving wheels；14 driven wheels；15 crawler belts；16L shape motor rack；17 servo motor involute spur gears；18 is fixed
Pedestal；19 rotating bases；20 large arm；21 large-arm joints；22 forearms；23 small shoulder joints；24 handgrips；25 small shoulder joints swing rudder
Machine；26 handgrips axially rotate steering engine；27 forearm swing steering engines；28 forearms axially rotate steering engine；29 rotating bases rotate steering engine；30
Large arm swing steering engine.
Specific embodiment
With reference to the accompanying drawing, specific embodiments of the present invention will be described in further detail.
It is to be appreciated that appended attached drawing is not proportionally drawn, and merely to illustrating each of basic principle of the invention
The suitably simplified technique of painting of kind feature.The specific design feature of invention disclosed herein include for example specific size, direction,
Position and shape will be partly determined by the specific application and use environment.
In appended multiple attached drawings, same or equivalent component (element) is with the index of identical appended drawing reference.
It should be noted that all statements for using " first ", " second " are for differentiation two in the embodiment of the present invention
The non-equal entity of a same names or non-equal parameter, it is seen that " first ", " second " do not answer only for the convenience of statement
It is interpreted as the restriction to the embodiment of the present invention.
Referring to Figure 1, in the present specification, the top for defining Fig. 1 is the caterpillar type robot with speeling stairway function
Top or upside (upper side), the lower section of Fig. 1 be the caterpillar type robot with speeling stairway function lower section or downside (under
Side).In the present specification, direction of advance of caterpillar type robot of the definition with speeling stairway function in speeling stairway is
The front end of caterpillar type robot with speeling stairway function, contralateral side are the caterpillar type robot with speeling stairway function
Rear end.
As shown in Figure 1 to Figure 3, in one embodiment of the invention, provided by the invention to have the function of speeling stairway
Caterpillar type robot include front end walking mechanism 1, chassis 2, rear end walking mechanism 3, front-end servo motor 5, rear end servo electricity
Machine 6.In a specific embodiment, front end walking mechanism 1 is separately positioned on the front end on chassis 2 with rear end walking mechanism 3
And rear end, also, front end walking mechanism 1 and rear end walking mechanism 3 can carry out fixed-axis rotation relative to chassis 2.Wherein, front end
Servo motor 5 and rear end servo motor 6 are separately fixed at the front-end and back-end on 2 downside of chassis, are respectively used to control front end
The fixed-axis rotation of walking mechanism 1 and rear end walking mechanism 3, front end walking mechanism 1 and rear end walking mechanism 3 are provided with driving motor
To control the movement of the forward or backward of the caterpillar type robot with speeling stairway function.In a preferred embodiment party
In case, driving motor is direct-drive motor.
Refer to Fig. 2, the front end walking mechanism 1 of the caterpillar type robot provided by the invention with speeling stairway function with
The structure of rear end walking mechanism 2 is identical, and only the structure of front end walking mechanism 1 is described in the present specification.Such as Fig. 2 institute
Show, front end walking mechanism 1 includes the first pedrail mechanism 7, the second pedrail mechanism 8, rotating shaft 9 and rotating shaft involute spur gear
10.First pedrail mechanism 7 is identical with the structure of the second pedrail mechanism 8, only describes the knot of the first pedrail mechanism 7 in the present specification
Structure.As shown in Fig. 2, the first pedrail mechanism 7 is driven including wheel frame plate 11, direct-drive motor 12, driving wheel 13, one or more
Take turns 14, crawler belt 15.Wherein, 9 both ends of rotating shaft are fixedly connected with the first pedrail mechanism 7 and the second pedrail mechanism 8 respectively, rotating shaft
9 for front end walking mechanism 1 to be connected with chassis by bearing, and rotating shaft involute spur gear 10 is fixedly connected on rotating shaft
On 9.
In a specific embodiment, rotating shaft involute spur gear 10 and rotating shaft 9 are fixed by interference fit
Connection, takes turns frame plate 11 and one end of rotating shaft 9 is achieved a fixed connection by bolt, to reach straight by driving rotating shaft involute
Gear 10 and realize two sides wheel frame plate 11 around the rotation of rotating shaft 9 function.
In a specific embodiment, the two sides for taking turns frame plate 11 are arranged in direct-drive motor 12 and driving wheel 13
Face, direct-drive motor 12 and the one side of wheel frame plate 11 are attached by bolt, and make the defeated of direct-drive motor 12
Rotor is stretched out by the aperture on wheel frame plate 11 out；Driving wheel 13 be located at wheel frame plate 11 another side, and by shaft coupling with
The output rotor of direct-drive motor 12 connects.One or more can be set in driven wheel 14, is provided with two in the present embodiment
It is a.Driven wheel 14 is connected to the side that driving wheel 13 is connected on wheel frame plate 11, and specifically, the axis stretched out on driven wheel 14 passes through
Aperture on bearing and wheel frame plate 11 is cooperatively connected, and the shaft end of the axis stretched out on driven wheel 14 realizes the end of axis with nut
It is fixed.Crawler belt 15 is centered around on driving wheel 13 and driven wheel 14, and the protrusion on the groove on crawler belt 15 and driving wheel 13 matches
It closes, to realize the purpose rotated by active wheel drive crawler belt.
Between the front end walking mechanism 1 and chassis 2 of caterpillar type robot provided by the invention with speeling stairway function
Mounting means, the mounting means between rear end walking mechanism 3 and chassis 2 it is identical, in the present specification only to front end walk
Mechanism 1 and the mounting means on chassis 2 are described.Referring to Figure 1 and Fig. 3, motor rack is provided on 2 downside of chassis.?
It is specially L shape motor rack 16 in the present embodiment, which is matched by bolt and the corresponding aperture of 2 downside of chassis
It closes, to be attached with chassis 2.Front-end servo motor 5 is fixed by screws on the L shape motor rack 16.Front-end servo electricity
Machine 5 is provided with servo motor involute spur gear 17, and servo motor involute spur gear 17 and the rotor of front-end servo motor 5 are defeated
Outlet is fastenedly connected by interference fit, control servo motor involute spur gear 17 and rotating shaft involute spur gear 10
Operating center distance be equal to installation center away from thus the correct engagement both realized.Rotating shaft 9 in front end walking mechanism 1 is logical
Front end two side opening of the bearing on chassis 2 is crossed, and is cooperated with the aperture on the chassis 2, to realize front end walking mechanism 1
The function of relatively rotating relative to chassis 2 is carried out around rotating shaft 9.
In a specific embodiment, one end that front end walking mechanism 1 is provided with driving motor, which is located at, has climbing
The front end of the caterpillar type robot of stair function, one end that front end walking mechanism 1 is provided with driven wheel, which is located at, has speeling stairway
The rear end of the caterpillar type robot of function.Correspondingly, one end that rear end walking mechanism is provided with driving motor, which is located at, has climbing
The rear end of the caterpillar type robot of stair function, one end of rear end walking mechanism setting driven wheel, which is located at, has the function of speeling stairway
Caterpillar type robot front end.It is watched with realizing by the front-end servo motor 5 installed on chassis 2 and rear end by above structure
Motor 6 is taken to control the function that front end walking mechanism 1 and rear end walking mechanism 3 are relatively rotated around rotating shaft relative to chassis 2 respectively
Energy.
Fig. 4 is referred to, the caterpillar type robot provided by the invention with speeling stairway function is additionally provided with mechanical arm 4,
The upper surface on chassis 2 is arranged in mechanical arm 4, which can carry out the function of crawl, the placement of article.
In a specific embodiment, mechanical arm 4 includes firm banking 18, rotating base 19, large arm 20, large arm
Joint 21, forearm 22, small shoulder joint 23, handgrip 24 and multiple steering engines, the firm banking, the rotating base, the large arm,
The large-arm joint, the small shoulder joint, is sequentially connected between the handgrip and connects the forearm, by corresponding described
Steering engine controls the relative rotation between above-mentioned all parts respectively.
In a more specific embodiment, mechanical arm 4 include firm banking 18, it is rotating base 19, large arm 20, big
Shoulder joint 21, forearm 22, small shoulder joint 23, handgrip 24, small shoulder joint swing steering engine 25, handgrip axially rotate steering engine 26, forearm
Axially rotation steering engine 28, rotating base rotate steering engine 29 and large arm swing steering engine 30 for swing steering engine 27, forearm.Wherein, fixed bottom
Seat 18 is bolted on the corresponding aperture position on chassis 2, and rotating base 19 is connected on firm banking 18 by bearing,
One end of large arm 20 is connected on rotating base 19 by bearing, and large-arm joint 21 is connected on the other end of large arm 20, forearm
22 one end passes through large-arm joint 21, and is connected on large-arm joint 21 by bearing, and small shoulder joint 23 is connected to forearm 22
The other end, handgrip 24 are connected on small shoulder joint 23.
Referring to fig. 4, the body part that handgrip axially rotates steering engine 26 is fixed on small shoulder joint 23, and handgrip axially rotates rudder
The steering engine rotor of machine 26 is fixed on handgrip 24, to control the rotation of handgrip 24.The body portion of small shoulder joint swing steering engine 25
Divide and be fixed on forearm 22, the steering engine rotor of small shoulder joint swing steering engine 25 is fixed on the small shoulder joint 23, to control
The swing of small shoulder joint 23.The body part of forearm swing steering engine 27 is fixed in large arm 20, the steering engine of forearm swing steering engine 27
Rotor is fixed on large-arm joint 21, to control swing of the forearm 22 relative to large arm 20.Forearm axially rotates steering engine 28
Body part is fixed on large-arm joint 21, and the steering engine rotor that forearm axially rotates steering engine 28 is fixed on forearm 22, to control
The axial rotation of forearm 22 processed.The body part of rotating base rotation steering engine 29 is fixed on rotating base 19, and rotating base turns
The steering engine rotor of dynamic steering engine 29 is fixed on firm banking 18, to control the unitary rotation of mechanical arm 4.Rotating base rotates steering engine
29 body part is fixed on rotating base 19, and the steering engine rotor of rotating base rotation steering engine 29 is fixed in large arm 20, with
Control the swing of large arm 20.
The process of the speeling stairway movement of the caterpillar type robot with speeling stairway function is described below.The present invention provides
The caterpillar type robot with speeling stairway function further include sensor module, processing module and motion-control module.Sensing
Device module, processing module and motion-control module are arranged on chassis, wherein sensor module and motion-control module respectively with
Processing module connection, sensor module is to calculate step height and the distance apart from step, robot distance band crawl article
Distance and article volume, the signal of processing module receiving sensor module, signal exports after processing to motion control
Module, by the movement of moving control module for controlling front end walking mechanism and rear end walking mechanism, to realize speeling stairway, and
It can control the rotation and crawl of mechanical arm.
Fig. 6 is referred to, during implementing speeling stairway movement, sensor module can be calculated first and judge stair height
Whether degree is in the range of can climb, and when stair can be climbed, robot is moved on, before sensor module detects
When end walking mechanism front end is driven to close to stage rank, front end walking mechanism is lifted under the control of front-end servo motor upwards first
It rises.It is whole simultaneously to be moved under the driving of four direct-drive motors, until the crawler sections of the front end walking mechanism
Touch the first stage rank on along rear, execute next movement.
Fig. 7 is referred to, the caterpillar type robot provided by the invention with speeling stairway function is dynamic in implementation speeling stairway
During work, in front end, walking mechanism moves forward, while while rear end walking mechanism travels forward, being watched by rear end
Being rotated up for chassis is done step-by-step according to the data of sensor module detected in the rear end walking mechanism for taking motor control,
Guarantee that chassis is gradually raised up to shown position while front end walking mechanism is contacted with step always.
Fig. 8 is referred to, the caterpillar type robot provided by the invention with speeling stairway function is dynamic in implementation speeling stairway
During work, front end walking mechanism and rear end walking mechanism move forward under the driving of direct-drive motor, together
Shi Qianduan walking mechanism adjusted under the control of front-end servo motor to horizontal position.Then movement is performed the next step.
Fig. 9 is referred to, the caterpillar type robot provided by the invention with speeling stairway function is dynamic in implementation speeling stairway
During work, front end walking mechanism and rear end walking mechanism move forward, while before sensor module detects
When holding walking mechanism close to second-order step, front end walking mechanism is lifted again up under the control of front-end servo motor, is made
The crawler sections for obtaining front end walking mechanism touch the upper edge of second-order step.Then movement is performed the next step.
Referring to Figure 10, the caterpillar type robot provided by the invention with speeling stairway function is to implement speeling stairway dynamic
During work, front end walking mechanism and rear end walking mechanism move forward, when sensor module detects rear end row
It is rotated down when walking mechanism close to the first stage rank by the rear end walking mechanism of rear end Serve Motor Control, while front end vehicle with walking machine
Structure and rear end walking mechanism move on so that rear end walking mechanism touches the upper edge of the first stage rank, while front-end servo
The front end walking mechanism of motor control is gradually adjusted to level, to increase the contact area with second-order step.Then under executing
The movement of one step.
Referring to Figure 11, the caterpillar type robot provided by the invention with speeling stairway function is to implement speeling stairway dynamic
During work, front end walking mechanism and rear end walking mechanism continue to transport forward under the action of four direct-drive motors
It is dynamic, while rear end walking mechanism is gradually adjusted under the control of rear end servo motor to level, and it is dynamic to complete creeping for single order step
Make.
Referring to Figure 12, the caterpillar type robot provided by the invention with speeling stairway function is to implement speeling stairway dynamic
During work, front end walking mechanism and rear end walking mechanism move forward, while before sensor module detects
When holding walking mechanism front end close to third stage rank, front end walking mechanism is lifted up under the control of front-end servo motor, is made
The crawler sections for obtaining front end walking mechanism touch the upper edge of third stage rank.Continue to repeat the movement of Fig. 7 to Figure 11, until complete
At the climbing of whole steps.
In summary: being cooperated by the movement of front end walking mechanism, chassis, rear end walking mechanism in control and detection system
Cooperation under to realize the function of robot speeling stairway.Mechanical arm can be realized the crawl of article, place function.
Each technical characteristic of invention described above can be combined arbitrarily, succinct in order to describe, not to upper
It states all possibility combinations of each technical characteristic and carries out whole descriptions, still, as long as being not present with the combination of above-mentioned each technical characteristic
Contradiction is all considered to be within the record scope of this specification.
Each technical characteristic of invention described above, description is more specific detailed, is not departing from present inventive concept
Under the premise of, several improvement and deformation made belong to the scope of protection of the patent of the present invention.Therefore, the protection model of the invention patent
Enclosing should be determined by the appended claims.
Claims (3)
1. a kind of caterpillar type robot with speeling stairway function, which is characterized in that described with speeling stairway function
Caterpillar type robot includes front end walking mechanism, chassis, rear end walking mechanism, front-end servo motor and rear end servo motor；Institute
It states front end walking mechanism and the rear end walking mechanism is connected with the chassis by bearing respectively, the front-end servo motor
It is fixedly connected on the chassis with the rear end servo motor, to control the front end walking mechanism and the rear end respectively
Walking mechanism carries out fixed-axis rotation relative to the chassis, and the front end walking mechanism and the rear end walking mechanism are provided with
Driving motor is to control the movement of the caterpillar type robot with speeling stairway function；
The front end walking mechanism is identical with the rear end walking mechanism structure, respectively includes the first pedrail mechanism, the second shoe
Band mechanism, rotating shaft and rotating shaft involute spur gear, wherein the both ends of the rotating shaft respectively with first pedrail mechanism
It is fixedly connected with second pedrail mechanism, the rotating shaft is connected with the chassis by bearing, and then makes the front end
Walking mechanism and the rear end walking mechanism are connected with the chassis, and the rotating shaft involute spur gear is fixedly connected on institute
It states on rotating shaft；
First pedrail mechanism and second pedrail mechanism respectively include wheel frame plate, direct-drive motor, driving wheel, one
Or multiple driven wheels, crawler belt, wherein the direct-drive motor is connected to the one side of the wheel frame plate, the DC driven
The output rotor of motor is stretched out by the aperture on the wheel frame plate；The driving wheel is located at the wheel frame plate another side, institute
Driving wheel is stated to connect by shaft coupling with the output rotor of the driving motor；The driven wheel is connected on the wheel frame plate,
It drives rotation by the driving wheel；The crawler belt is centered around on the driving wheel and the driven wheel, the rotating shaft
Both ends are fixedly connected with the wheel frame plate of first pedrail mechanism and second pedrail mechanism respectively, to pass through driving institute
Stating rotating shaft involute spur gear rotates wheel frame plate around the rotating shaft；
The rotor output of the front-end servo motor and the rear end servo motor is provided with servo motor involute spur
Wheel, the servo motor involute spur gear are engaged with the rotating shaft involute spur gear；
The caterpillar type robot with speeling stairway function is provided with mechanical arm, and the chassis is arranged in the mechanical arm
Upper surface, to grab and place article；
The caterpillar type robot with speeling stairway function is provided with sensor module, processing module and motion control mould
Block, the sensor module, the processing module and the motion-control module are arranged on chassis, wherein the sensor
Module and the motion-control module are connect with the processing module respectively, the sensor module for calculate distance and/or
Article volume, the processing module receive the signal of the sensor module, and signal is exported after processing to the motion control
Module passes through the movement of moving control module for controlling front end walking mechanism and the rear end walking mechanism, and control institute
State the rotation of mechanical arm, and crawl and placement article.
2. the caterpillar type robot according to claim 1 with speeling stairway function, which is characterized in that the chassis
Motor rack is provided on downside, the front-end servo motor and the rear end servo motor are fixedly connected on motor rack.
3. the caterpillar type robot according to claim 1 or 2 with speeling stairway function, which is characterized in that the machine
Tool arm includes firm banking, rotating base, large arm, large-arm joint, forearm, small shoulder joint, handgrip and multiple steering engines, the fixation
Pedestal, the rotating base, the large arm, the large-arm joint, the forearm, the small shoulder joint, between the handgrip according to
It is secondary to be connected, the relative rotation between above-mentioned each component is controlled by corresponding steering engine respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910202600.9A CN109823424B (en) | 2019-03-18 | 2019-03-18 | Crawler-type robot with climbing stair function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910202600.9A CN109823424B (en) | 2019-03-18 | 2019-03-18 | Crawler-type robot with climbing stair function |
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| CN109823424A true CN109823424A (en) | 2019-05-31 |
| CN109823424B CN109823424B (en) | 2024-06-14 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239639A (en) * | 2019-07-01 | 2019-09-17 | 上海钧工机器人有限公司 | A kind of crawler type motion platform of variable topological structure |
| CN111216815A (en) * | 2020-03-20 | 2020-06-02 | 浙江大学 | Magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection |
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