CN110103212A - A kind of changeable humanoid robot of modularization based on trolley - Google Patents
A kind of changeable humanoid robot of modularization based on trolley Download PDFInfo
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- CN110103212A CN110103212A CN201910533245.3A CN201910533245A CN110103212A CN 110103212 A CN110103212 A CN 110103212A CN 201910533245 A CN201910533245 A CN 201910533245A CN 110103212 A CN110103212 A CN 110103212A
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- China
- Prior art keywords
- trolley
- belt wheel
- supporting leg
- end connector
- rotary
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The present invention relates to a kind of changeable humanoid robots of the modularization based on trolley, trolley module two sides are respectively to drive trolley, inside is two rotary trolley, pass sequentially through the first connecting shaft, second connecting shaft and third connecting shaft are connected and fixed, drive trolley and rotary trolley mirror settings each other, front end connector is fixed between second crawler belt of rotary trolley, rear end connector is fixed between second fixed plate of rotary trolley, driving trolley and rotary trolley are parallel to each other, the height of trolley is driven to be greater than the height of rotary trolley, the position of front end connector and rear end connector mutually staggers setting.Integrated mode of the present invention is various, load is big, freedom of motion is more, purposes is wide.
Description
Technical field
The present invention relates to robot device's technical field, especially a kind of integrated mode multiplicity loads big, freedom of motion
The changeable humanoid robot of modularization based on trolley more, purposes is wide.
Background technique
Modularization robot has superior dynamic property, load and strong environmental adaptability, multiple directions movement flexibly,
More and more researchers study it in recent years.Currently, well known Combined robot is line style robot, such as snake
Anthropomorphic robot, mobile platform are made up of a section section modularized joint attachment device, which may be implemented to wriggle, swim
It moves, sidesway, sidewinder, the forms of motion such as crossing over blockage.But can inevitably be exposed under hazardous environment, a section is impaired may
Lead to the paralysis of whole system, speed is limited when sidesway and turning, increases exposure duration in this way, be easy to be found to by
Damage.
Application number 201810572052.4, application publication number CN108909877A, a kind of denomination of invention " modularized combination type
Robot platform " provides a kind of Modularization combined type robot platform, including several wheeled carriages, passes through between wheeled carriage
Attachment device is combined using series connection and parallel way, and two sets of drive systems of walking mechanism and turning mechanism are arranged on wheeled carriage；
Wherein attachment device includes front and back attachment device and left and right attachment device, walking mechanism include wheel, hub motor, brake block,
Take turns support shaft and wheel support, turning mechanism includes the sprocket wheel being connected on wheel support, by support shaft is connected to trolley
Tightener sprocket on car body and the drive sprocket being connected to by motor driving shaft on stepper motor.
Application number 201710081752.9, application publication number CN106625632A, a kind of denomination of invention " modularization robot
System ", including main control module, ultrasonic wave input module, first motor module, the second motor module and universal wheel module, wherein
Two surface of universal wheel module is connected with main control module, ultrasonic wave input module respectively, two opposite face of main control module respectively with
First motor module, the second motor module are connected.
The prior art proposes the modularization robot based on trolley, but the integrated mode of modularization trolley is limited, movement
Direction is single.Need the modularization based on trolley that a kind of integrated mode is various, load is big, freedom of motion is more, purposes is wide more
Modification robot.
Summary of the invention
The object of the present invention is to provide a kind of integrated mode multiplicity, load is big, freedom of motion is more, purposes is wide based on small
The changeable humanoid robot of the modularization of vehicle.
A kind of changeable humanoid robot of modularization based on trolley, comprising:
Trolley module, trolley module two sides are respectively to drive trolley, and inside is two rotary trolley, passes sequentially through the
One connecting shaft, the second connecting shaft and third connecting shaft are connected and fixed, the driving trolley and rotary trolley mirror settings each other, institute
It states and fixes front end connector between the second crawler belt of rotary trolley, rear end company is fixed between the second fixed plate of the rotary trolley
Fitting, the driving trolley and rotary trolley are parallel to each other, and the height of the driving trolley is greater than the height of rotary trolley, described
The position of front end connector and rear end connector mutually staggers setting；
The first pulley of the driving trolley, the second belt wheel, third belt wheel, the 4th belt wheel, the 5th belt wheel and the 6th belt wheel
It fixes on the first fixing plate, and is respectively fitted over the inside of the first crawler belt, the first oscillating cylinder, institute are set on the third belt wheel
It states and the second oscillating cylinder is set on the 4th belt wheel；
7th belt wheel of the rotary trolley, the 8th belt wheel, the 9th belt wheel, the tenth belt wheel, the 11st belt wheel and the 12nd
Belt wheel is fixed in the second fixed plate, and is respectively fitted over the inside of the second crawler belt, and third is arranged on the 9th belt wheel and swings gas
The 4th oscillating cylinder is arranged on the tenth belt wheel for cylinder.
Inner groovy is arranged in the outer surface of first crawler belt, and first fixed plate and the second fixed plate are parallel to each other, and
Close to setting.
Driving third belt wheel rotation after the first oscillating cylinder inflation, drives the 4th after the second oscillating cylinder inflation
Belt wheel rotation, the first pulley, the second belt wheel, the 5th belt wheel and the 6th belt wheel form rectangular quadrangle, the third band
Straight line is ipsilateral where wheel and the 4th belt wheel are located at the second belt wheel, the 5th belt wheel.
The 9th belt wheel is driven after the third oscillating cylinder inflation, drives the tenth band after the 4th oscillating cylinder inflation
Wheel, the 7th belt wheel, the 8th belt wheel, the 11st belt wheel and the 12nd belt wheel form rectangular quadrangle, the 9th belt wheel
Straight line is ipsilateral where being located at the 8th belt wheel, the 11st belt wheel with the tenth belt wheel.
The trolley module has multiple, the rear end of the rotary trolley of front end connector and back on rotary trolley in front
Connector is fixed, and forms X-direction supporting leg and Y-direction supporting leg, multiple X-direction supporting legs are arranged in the two sides of the Y-direction supporting leg, described
The front end connector or rear end connector of X-direction supporting leg are fixed in the first fixed plate of supporting leg in the Y direction, the X-direction supporting leg
It is respectively bar shaped with Y-direction supporting leg.
The trolley module has multiple, the rear end of the rotary trolley of front end connector and back on rotary trolley in front
Connector is fixed, and rotary trolley supporting leg is formed, and the first fixed plate of two sides of the trolley module fixes rotary trolley supporting leg respectively.
The trolley module has multiple, the rear end of the rotary trolley of front end connector and back on rotary trolley in front
Connector is fixed, and forms Y-direction supporting leg and Z-direction supporting leg, multiple Z-direction supporting legs are arranged in the two sides of the Y-direction supporting leg, described
The front end connector or rear end connector of Z-direction supporting leg are fixed in the first fixed plate of supporting leg in the Y direction, the Y-direction supporting leg
For bar shaped, the Z-direction supporting leg is L shape.
The trolley module has multiple, the rear end of the rotary trolley of front end connector and back on rotary trolley in front
Connector is fixed, and Y-direction supporting leg and X-direction rotating wheel, the front end connector of the X-direction rotating wheel or rear end connection are formed
Part is fixed in the first fixed plate of supporting leg in the Y direction, and group circularizes.
The trolley module has multiple, the rear end of the rotary trolley of front end connector and back on rotary trolley in front
Connector is fixed, and forms Y-direction rotating wheel, the front end connector or rear end connector of the Y-direction rotating wheel are fixed on trolley
In first fixed plate of module, group is circularized.
The trolley module has multiple, the rear end of the rotary trolley of front end connector and back on rotary trolley in front
Connector is fixed, and closed Z-direction rotating wheel and X-direction supporting leg are formed, and X-direction supporting leg is arranged in Z-direction rotating wheel interval,
The end connection or rear end connector of the X-direction supporting leg, are fixed in the first fixed plate of Z-direction rotating wheel, and are located at the side Z
To the two sides of rotating wheel.
Trolley module of the present invention two sides are respectively to drive trolley, and inside is two rotary trolley, pass sequentially through the first connection
Axis, the second connecting shaft and third connecting shaft are connected and fixed, and drive trolley and rotary trolley mirror settings each other, and the of rotary trolley
Front end connector is fixed between two crawler belts, rear end connector is fixed between the second fixed plate of rotary trolley, drives trolley and is turned
Dynamic trolley is parallel to each other, and the height of trolley is driven to be greater than the height of rotary trolley, the position of front end connector and rear end connector
Mutually stagger setting；Drive the first pulley of trolley, the second belt wheel, third belt wheel, the 4th belt wheel, the 5th belt wheel and the 6th belt wheel
It fixes on the first fixing plate, and is respectively fitted over the inside of the first crawler belt, the first oscillating cylinder, the 4th band are set on third belt wheel
Second oscillating cylinder is set on wheel；7th belt wheel of rotary trolley, the 8th belt wheel, the 9th belt wheel, the tenth belt wheel, the 11st belt wheel
It is fixed in the second fixed plate with the 12nd belt wheel, and is respectively fitted over the inside of the second crawler belt, third is set on the 9th belt wheel and is put
It takes offence cylinder, the 4th oscillating cylinder is set on the tenth belt wheel.
To drive the movement of trolley and rotary trolley in oscillating cylinder drive module trolley, there is modification, obstacle detouring, intricately
The function of shape movement.Driving trolley and rotary trolley are mainly made of parts such as belt wheel, oscillating cylinder, fixed plate, crawler belts.Driving
Trolley be greater than in the X direction rotary trolley, rotary trolley be greater than in the Y direction driving trolley ensure that driving trolley effect be
The leading portion connector of the power unit of trolley module, rotary trolley realizes that the modification of trolley module is combined with caterpillar drive, leading portion
Connector and rear end connector then guarantee the connection between trolley module.The changeable humanoid robot of modularization based on trolley is realized flat
The movement in face, polypody, X and Y-direction annulus rotating wheel various modes switching and multiple directions.With integrated mode multiplicity, load
Greatly, the feature that freedom of motion is more, purposes is wide can be used for obstacle detouring, complicated landform investigation, teaching demonstration.Integrated mode of the present invention
Multiplicity, load is big, freedom of motion is more, purposes is wide.
The beneficial effects of the present invention are:
1. the present invention utilizes driving trolley and rotary trolley and two trolleies in the size relationship of X and Y both direction, in fact
Now driving trolley is as module trolley, and the power section of entire robot, rotary trolley is then for realizing the modification of module trolley
Combination；
2. the present invention can be with a variety of moulds such as combined planar, four-footed, X and Y both direction annulus rotating wheels using module trolley
Formula combination, is adapted to the movement of various complicated landforms.
Detailed description of the invention
Fig. 1 is trolley module left view of the present invention to schematic perspective view；
Fig. 2 is the right visual direction schematic perspective view of trolley module of the present invention；
Fig. 3 is the structural schematic diagram of present invention driving trolley；
Fig. 4 is the structural schematic diagram of rotary trolley of the present invention；
Fig. 5 is the structural schematic diagram of X-direction supporting leg and Y-direction supporting leg of the present invention；
Fig. 6 is the structural schematic diagram of rotary trolley supporting leg and trolley module of the present invention；
Fig. 7 is the structural schematic diagram of Y-direction supporting leg and Z-direction supporting leg of the present invention；
Fig. 8 is the structural schematic diagram of Y-direction supporting leg and X-direction rotating wheel of the present invention；
Fig. 9 is the structural schematic diagram of Y-direction rotating wheel and trolley module of the present invention；
Figure 10 is the structural schematic diagram of X-direction supporting leg and Z-direction rotating wheel of the present invention；
In figure: 100, trolley module, 200, driving trolley, 300, rotary trolley, 1, first pulley, the 2, second belt wheel, 3,
Third belt wheel, the 4, the 4th belt wheel, the 5, the 5th belt wheel, the 6, the 6th belt wheel, the 7, first fixed plate, the 8, first oscillating cylinder, 9, second
Oscillating cylinder, the 10, first crawler belt, the 11, the 7th belt wheel, the 12, the 8th belt wheel, the 13, the 9th belt wheel, the 14, the tenth belt wheel, the 15, the tenth
One belt wheel, the 16, the 12nd belt wheel, the 17, second fixed plate, 18, third oscillating cylinder, the 19, the 4th oscillating cylinder, 20, second carries out
Band, the 21, first connecting shaft, the 22, second connecting shaft, 23, third connecting shaft, 24, front end connector, 25, rear end connector, 31, X
Direction supporting leg, 32, Y-direction supporting leg, 33, rotary trolley supporting leg, 34, Z-direction supporting leg, 35, X-direction rotating wheel, 36, Y-direction turn
Driving wheel, 37, Z-direction rotating wheel.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
Modification 1:
The changeable humanoid robot of a kind of modularization based on trolley, comprising: trolley module 100,100 two sides of trolley module difference
To drive trolley 200, inside is two rotary trolley 300, passes sequentially through the first connecting shaft 21, and the second connecting shaft 22 and third connect
Spindle 23 is connected and fixed, and drives trolley 200 and rotary trolley 300 mirror settings each other, the second crawler belt 20 of rotary trolley 300 it
Between fix front end connector 24, fix rear end connector 25 between the second fixed plate 17 of rotary trolley 300, drive trolley 200
It is parallel to each other with rotary trolley 300, the height of driving trolley 200 is greater than the height of rotary trolley 300, and front end connector 24 is with after
The position of end connection 25 mutually staggers setting；
Drive the first pulley 1 of trolley 200, the second belt wheel 2, third belt wheel 3, the 4th belt wheel 4, the 5th belt wheel 5 and the 6th
Belt wheel 6 is fixed in the first fixed plate 7, and is respectively fitted over the inside of the first crawler belt 10, and first is arranged on third belt wheel 3 and swings gas
The second oscillating cylinder 9 is arranged on the 4th belt wheel 4 in cylinder 8；7th belt wheel 11 of rotary trolley 300, the 8th belt wheel 12, the 9th belt wheel
13, the tenth belt wheel 14, the 11st belt wheel 15 and the 12nd belt wheel 16 are fixed in the second fixed plate 17, and are respectively fitted over the second shoe
With 20 inside, third oscillating cylinder 18 is set on the 9th belt wheel 13, the 4th oscillating cylinder 19 is set on the tenth belt wheel 14.First
Inner groovy is arranged in the outer surface of crawler belt 10, and the first fixed plate 7 and the second fixed plate 17 are parallel to each other, and close to setting.First pendulum
Driving third belt wheel 3 rotates after cylinder 8 of taking offence inflation, the rotation of the 4th belt wheel 4 of driving, first pulley after the inflation of the second oscillating cylinder 9
1, the second belt wheel 2, the 5th belt wheel 5 and the 6th belt wheel 6 form rectangular quadrangle, and third belt wheel 3 and the 4th belt wheel 4 are located at second
Belt wheel 2,5 place straight line of the 5th belt wheel it is ipsilateral.Third oscillating cylinder 18 drives the 9th belt wheel 13, the 4th oscillating cylinder after inflating
The tenth belt wheel 14, the 7th belt wheel 11, the 8th belt wheel 12, the 16 groups of growth of the 11st belt wheel 15 and the 12nd belt wheel are driven after 19 inflations
Rectangular quadrangle, the 9th belt wheel 13 and the tenth belt wheel 14 be located at the 8th belt wheel 12,15 place straight line of the 11st belt wheel it is ipsilateral.
Trolley module 100 has multiple, the rotary trolley of front end connector 24 and back on rotary trolley 300 in front
300 rear end connector 25 is fixed, forms X-direction supporting leg 31 and Y-direction supporting leg 32, and multiple X are arranged in the two sides of Y-direction supporting leg 32
Direction supporting leg 31, the front end connector 24 or rear end connector 25 of X-direction supporting leg 31, the first of fixed supporting leg 32 in the Y direction are solid
On fixed board 7, X-direction supporting leg 31 and Y-direction supporting leg 32 are respectively bar shaped.
With in oscillating cylinder drive module trolley drive trolley 200 and rotary trolley 300 movement, have modification, obstacle detouring,
The function of complicated landform movement.Drive trolley 200 and rotary trolley 300 mainly by belt wheel, oscillating cylinder, fixed plate, crawler belt etc.
Part composition.It drives trolley 200 to be greater than rotary trolley 300, rotary trolley 300 in the X direction and is greater than driving trolley in the Y direction
200 ensure that the effect of driving trolley 200 is the power unit of trolley module 100, and the leading portion connector of rotary trolley 300 is with shoe
The modification combination of trolley module 100 is realized with movement, leading portion connector and rear end connector then guarantee between trolley module 100
Connection.
First oscillating cylinder 8, the second oscillating cylinder 9 cylinder body be fixedly connected with the first fixed plate 7, the first oscillating cylinder 8,
The rotation axis of second oscillating cylinder 9 is fixedly connected with third belt wheel 3, the 4th belt wheel 4 respectively, first pulley 1, the second belt wheel 2,
Five belt wheels 5, the 6th belt wheel 6 are rotatably connected with the first fixed plate 7, first pulley 1, the second belt wheel 2, third belt wheel the 3, the 4th
Belt wheel 4, the 5th belt wheel 5, the 6th belt wheel 6 are engaged with the first crawler belt 10, and the first oscillating cylinder 8, the second oscillating cylinder 9 drive the
Three belt wheels 3, the 4th belt wheel 4 rotation, further drive the first crawler belt 10 rotation, first pulley 1, the second belt wheel 2, the 5th belt wheel 5,
6th belt wheel 6 is played a supporting role.Similarly third oscillating cylinder 18, the 4th oscillating cylinder 19 cylinder body be fixed on the second fixed plate
On 17, rotation axis passes through the 9th belt wheel 13 respectively, the tenth belt wheel 14 drives the rotation of the second crawler belt 20, the 7th belt wheel 11, the 8th band
Take turns the 12, the 11st belt wheel 15, the 12nd belt wheel 16 is support belt wheel.In order to guarantee the contact for driving trolley with ground, drive small
Vehicle is greater than rotary trolley in being higher than for X-direction；In order to avoid mechanical interference, it is small that the length of rotary trolley in the Y direction is greater than driving
Vehicle.
First connecting shaft 21, the second connecting shaft 22, third connecting shaft 23 guarantee that left end driving trolley 200, left end rotation are small
Vehicle 300, right end rotary trolley 300, right end driving trolley 200 are from left to right fixedly connected sequentially；Leading portion connector 24 and left end
Rotary trolley 300, right end rotary trolley 300 the second crawler belt 20 be fixedly connected, when left end rotary trolley 300, right end rotation it is small
When the second crawler belt 20 rotation of vehicle 300, leading portion connector 24 is rotated with the second crawler belt 20, and rear end connector 25 turns with left end simultaneously
Move trolley 300, the second fixed plate 17 of right end rotary trolley 300 is fixedly connected.
X-direction supporting leg one, X-direction supporting leg two, X-direction supporting leg three, X-direction supporting leg four, X-direction supporting leg five, X-direction supporting leg
Six, X-direction supporting leg seven, X-direction supporting leg eight can drive a kind of modularization multiple changing type robot system based on trolley in X-direction
Advance or retreats.Remove the module trolley of Y-direction supporting leg 32, X-direction supporting leg one, X-direction supporting leg four, X-direction supporting leg five, X
Direction supporting leg eight includes 7 module trolleies, and X-direction supporting leg two, X-direction supporting leg three, X-direction supporting leg six, X-direction supporting leg seven include
6 module trolleies can guarantee in this way in X-direction supporting leg one, X-direction supporting leg two, X-direction supporting leg three, X-direction supporting leg four, the side X
The plane mould based on trolley formed to supporting leg five, X-direction supporting leg six, X-direction supporting leg seven, X-direction supporting leg eight, Y-direction supporting leg
For the changeable humanoid robot of blockization when being converted into more robot legs, the height of landing leg of 32 two sides of Y-direction supporting leg is consistent, mainly by X
Direction supporting leg one, X-direction supporting leg four, X-direction supporting leg five, X-direction supporting leg eight support.
Modification 2:
Trolley module 100 has multiple, the rotary trolley of front end connector 24 and back on rotary trolley 300 in front
300 rear end connector 25 is fixed, forms rotary trolley supporting leg 33, and the first fixed plate of two sides 7 of trolley module 100 is fixed respectively
Rotary trolley supporting leg 33.
The changeable humanoid robot X-direction supporting leg connection of modularization based on trolley, module trolley one, module trolley two,
Module trolley three, module trolley four, module trolley five, the leading portion connector 24 of module trolley six and rear end connector 25 are successively solid
Fixed connection, the leading portion connector 24 of module trolley seven and the first fixed plate 7 of driving trolley 200 in left end in module trolley eight are fixed
Connection, the fixed company of the first fixed plate 7 of the rear end connector 25 of module trolley seven and right end driving trolley 200 in module trolley eight
It connects, module trolley nine, module trolley ten, module trolley 11, module trolley 12, module trolley 13, module trolley 14
Leading portion connector 24 be fixedly connected sequentially with rear end connector 25.
Modification 3:
Trolley module 100 has multiple, the rotary trolley of front end connector 24 and back on rotary trolley 300 in front
300 rear end connector 25 is fixed, forms Y-direction supporting leg 32 and Z-direction supporting leg 34, and multiple Z are arranged in the two sides of Y-direction supporting leg 32
Direction supporting leg 34, the front end connector 24 or rear end connector 25 of Z-direction supporting leg 34, the first of fixed supporting leg 32 in the Y direction are solid
On fixed board 7, Y-direction supporting leg 32 is bar shaped, and Z-direction supporting leg 34 is L shape.
Modification 4:
Trolley module 100 has multiple, the rotary trolley of front end connector 24 and back on rotary trolley 300 in front
300 rear end connector 25 is fixed, forms Y-direction supporting leg 32 and X-direction rotating wheel 35, the front end connection of X-direction rotating wheel 35
Part 24 or rear end connector 25 are fixed in the first fixed plate 7 of supporting leg 32 in the Y direction, and group circularizes.
Modification 5:
Trolley module 100 has multiple, the rotary trolley of front end connector 24 and back on rotary trolley 300 in front
300 rear end connector 25 is fixed, forms Y-direction rotating wheel 36, the front end connector 24 of Y-direction rotating wheel 36 or rear end connection
Part 25 is fixed in the first fixed plate 7 of trolley module 100, and group circularizes.
Modification 6:
Trolley module 100 has multiple, the rotary trolley of front end connector 24 and back on rotary trolley 300 in front
300 rear end connector 25 is fixed, forms closed Z-direction rotating wheel 37 and X-direction supporting leg 31, and Z-direction rotating wheel 37 is spaced
X-direction supporting leg 31 is set, and the end connection 24 or rear end connector 25 of X-direction supporting leg 31 are fixed on the of Z-direction rotating wheel 37
In one fixed plate 7, and it is located at the two sides of Z-direction rotating wheel 37.
The changeable humanoid robot of modularization based on trolley realizes plane, polypody, X and Y-direction annulus rotating wheel various modes
The movement of switching and multiple directions.Have the characteristics that integrated mode multiplicity, load is big, freedom of motion is more, purposes is wide, can be used for
Obstacle detouring, complicated landform investigation, teaching demonstration.
By controlling the rotation of each oscillating cylinder, realize a variety of modifications of the changeable humanoid robot of modularization based on trolley with
Combination control, may be implemented complicated landform movement and the obstacle detouring of multiple directions, and accurate TRAJECTORY CONTROL may be implemented, and possess
The incomparable advantage of other modularization multiple changing type robot systems based on trolley.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (10)
1. a kind of changeable humanoid robot of modularization based on trolley characterized by comprising
Trolley module (100), trolley module (100) two sides are respectively to drive trolley (200), and inside is two rotary trolley
(300), it passes sequentially through the first connecting shaft (21), the second connecting shaft (22) and third connecting shaft (23) are connected and fixed, the driving
Trolley (200) and rotary trolley (300) mirror settings each other, it is fixed between the second crawler belt (20) of the rotary trolley (300)
Front end connector (24) fixes rear end connector (25), the drive between the second fixed plate (17) of the rotary trolley (300)
Dynamic trolley (200) and rotary trolley (300) are parallel to each other, and the height of driving trolley (200) is greater than rotary trolley (300)
Highly, the position of the front end connector (24) and rear end connector (25) mutually staggers setting；
The first pulley (1) of driving trolley (200), the second belt wheel (2), third belt wheel (3), the 4th belt wheel (4), the 5th band
Wheel (5) and the 6th belt wheel (6) are fixed on the first fixed plate (7), and are respectively fitted over the inside of the first crawler belt (10), the third
It is arranged on belt wheel (3) the first oscillating cylinder (8), the second oscillating cylinder (9) is set on the 4th belt wheel (4)；
7th belt wheel (11) of the rotary trolley (300), the 8th belt wheel (12), the 9th belt wheel (13), the tenth belt wheel (14), the
11 belt wheels (15) and the 12nd belt wheel (16) are fixed on the second fixed plate (17), and are respectively fitted over the interior of the second crawler belt (20)
Third oscillating cylinder (18) are arranged on the 9th belt wheel (13) in side, and the 4th oscillating cylinder is arranged on the tenth belt wheel (14)
(19)。
2. the changeable humanoid robot of a kind of modularization based on trolley according to claim 1, which is characterized in that described first
Inner groovy is arranged in the outer surface of crawler belt (10), and first fixed plate (7) and the second fixed plate (17) are parallel to each other, and close to setting
It sets.
3. the changeable humanoid robot of a kind of modularization based on trolley according to claim 1, which is characterized in that described first
Driving third belt wheel (3) rotation after oscillating cylinder (8) inflation drives the 4th belt wheel (4) after the second oscillating cylinder (9) inflation
Rotation, the first pulley (1), the second belt wheel (2), the 5th belt wheel (5) and the 6th belt wheel (6) form rectangular quadrangle, institute
State third belt wheel (3) and the 4th belt wheel (4) be located at the second belt wheel (2), the 5th belt wheel (5) where straight line it is ipsilateral.
4. the changeable humanoid robot of a kind of modularization based on trolley according to claim 1, which is characterized in that the third
The 9th belt wheel (13) is driven after oscillating cylinder (18) inflation, drives the tenth belt wheel after the 4th oscillating cylinder (19) inflation
(14), the 7th belt wheel (11), the 8th belt wheel (12), the 11st belt wheel (15) and the 12nd belt wheel (16) composition are rectangular
Straight line where quadrangle, the 9th belt wheel (13) and the tenth belt wheel (14) are located at the 8th belt wheel (12), the 11st belt wheel (15)
It is ipsilateral.
5. the changeable humanoid robot of a kind of modularization based on trolley according to claim 1, which is characterized in that the trolley
Module (100) have it is multiple, the rotary trolley (300) of front end connector (24) and back on rotary trolley (300) in front
Rear end connector (25) is fixed, forms X-direction supporting leg (31) and Y-direction supporting leg (32), the two sides of the Y-direction supporting leg (32) are set
Multiple X-direction supporting legs (31) are set, the front end connector (24) or rear end connector (25) of the X-direction supporting leg (31) are fixed on Y
In the first fixed plate (7) of direction supporting leg (32), the X-direction supporting leg (31) and Y-direction supporting leg (32) are respectively bar shaped.
6. the changeable humanoid robot of a kind of modularization based on trolley according to claim 1, which is characterized in that the trolley
Module (100) have it is multiple, the rotary trolley (300) of front end connector (24) and back on rotary trolley (300) in front
Rear end connector (25) is fixed, forms rotary trolley supporting leg (33), the first fixed plate of two sides (7) of the trolley module (100)
Fix rotary trolley supporting leg (33) respectively.
7. the changeable humanoid robot of a kind of modularization based on trolley according to claim 1, which is characterized in that the trolley
Module (100) have it is multiple, the rotary trolley (300) of front end connector (24) and back on rotary trolley (300) in front
Rear end connector (25) is fixed, forms Y-direction supporting leg (32) and Z-direction supporting leg (34), the two sides of the Y-direction supporting leg (32) are set
Multiple Z-direction supporting legs (34) are set, the front end connector (24) or rear end connector (25) of the Z-direction supporting leg (34) are fixed on Y
In the first fixed plate (7) of direction supporting leg (32), the Y-direction supporting leg (32) is bar shaped, and the Z-direction supporting leg (34) is L shape.
8. the changeable humanoid robot of a kind of modularization based on trolley according to claim 1, which is characterized in that the trolley
Module (100) have it is multiple, the rotary trolley (300) of front end connector (24) and back on rotary trolley (300) in front
Rear end connector (25) is fixed, composition Y-direction supporting leg (32) and X-direction rotating wheel (35), before the X-direction rotating wheel (35)
End connection (24) or rear end connector (25) are fixed in the first fixed plate (7) of supporting leg (32) in the Y direction, and group circularizes.
9. the changeable humanoid robot of a kind of modularization based on trolley according to claim 1, which is characterized in that the trolley
Module (100) have it is multiple, the rotary trolley (300) of front end connector (24) and back on rotary trolley (300) in front
Rear end connector (25) is fixed, forms Y-direction rotating wheel (36), the front end connector (24) of the Y-direction rotating wheel (36) or
Rear end connector (25) is fixed in the first fixed plate (7) of trolley module (100), and group circularizes.
10. the changeable humanoid robot of a kind of modularization based on trolley according to claim 1, which is characterized in that described small
Vehicle module (100) has multiple, the rotary trolley (300) of front end connector (24) and back on rotary trolley (300) in front
Rear end connector (25) it is fixed, form closed Z-direction rotating wheel (37) and X-direction supporting leg (31), the Z-direction rotating wheel
(37) interval setting X-direction supporting leg (31), the end connection (24) or rear end connector (25) of the X-direction supporting leg (31), Gu
It is scheduled in the first fixed plate (7) of Z-direction rotating wheel (37), and is located at the two sides of Z-direction rotating wheel (37).
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| CN201910533245.3A CN110103212B (en) | 2019-06-19 | 2019-06-19 | modularization polytropic robot based on dolly |
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| CN201910533245.3A CN110103212B (en) | 2019-06-19 | 2019-06-19 | modularization polytropic robot based on dolly |
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| CN110103212B CN110103212B (en) | 2019-12-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561388A (en) * | 2019-08-30 | 2019-12-13 | 东北大学 | modular mesh robot |
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| KR100835952B1 (en) * | 2008-01-16 | 2008-06-09 | (주)엔티렉스 | Independence driving module for robot |
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| CN107336245A (en) * | 2017-05-27 | 2017-11-10 | 芜湖星途机器人科技有限公司 | Head actively follows robot |
| CN107387940A (en) * | 2017-09-22 | 2017-11-24 | 南京天创电子技术有限公司 | A kind of pipe robot magnetic suck caterpillar belt structure |
| CN107654791A (en) * | 2017-09-22 | 2018-02-02 | 南京天创电子技术有限公司 | A kind of magnetic suck pipe robot |
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| KR100835952B1 (en) * | 2008-01-16 | 2008-06-09 | (주)엔티렉스 | Independence driving module for robot |
| CA2906857A1 (en) * | 2015-10-06 | 2017-04-06 | Leo Howard | A high mobility, hign power, and flexible robot |
| CN107336245A (en) * | 2017-05-27 | 2017-11-10 | 芜湖星途机器人科技有限公司 | Head actively follows robot |
| CN107387940A (en) * | 2017-09-22 | 2017-11-24 | 南京天创电子技术有限公司 | A kind of pipe robot magnetic suck caterpillar belt structure |
| CN107654791A (en) * | 2017-09-22 | 2018-02-02 | 南京天创电子技术有限公司 | A kind of magnetic suck pipe robot |
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