CN110103212B - modularization polytropic robot based on dolly - Google Patents
modularization polytropic robot based on dolly Download PDFInfo
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- CN110103212B CN110103212B CN201910533245.3A CN201910533245A CN110103212B CN 110103212 B CN110103212 B CN 110103212B CN 201910533245 A CN201910533245 A CN 201910533245A CN 110103212 B CN110103212 B CN 110103212B
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- trolley
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention relates to a modularized multi-change robot based on trolleys, wherein two driving trolleys are respectively arranged on two sides of a trolley module, two rotating trolleys are arranged on the inner side of the trolley module, the driving trolleys are sequentially connected and fixed through a first connecting shaft, a second connecting shaft and a third connecting shaft, the driving trolleys and the rotating trolleys are arranged in a mirror image mode, a front end connecting piece is fixed between second tracks of the rotating trolleys, a rear end connecting piece is fixed between second fixing plates of the rotating trolleys, the driving trolleys and the rotating trolleys are parallel to each other, the height of the driving trolleys is larger than that of the rotating trolleys, and the positions of the. The combined type hydraulic control device has the advantages of various combined modes, large load, multiple freedom degrees of movement and wide application.
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to a modular polytropic robot based on a trolley, which has various combined modes, large load, multiple freedom degrees of movement and wide application.
Background
The modular robot has excellent dynamic performance, strong load and environment adaptability and flexible movement in multiple directions, and is researched by more and more researchers in recent years. At present, the well-known combined robot is a linear robot, such as a snake-shaped robot, and a moving platform of the combined robot is composed of a section of modular joint through a connecting device, and the platform can realize the movement forms of peristalsis, swimming, side-shifting, side-rolling, obstacle crossing and the like. But inevitably exposed to hazardous conditions, damage to a section may result in paralysis of the overall system, lateral movement and limited speed in cornering, which increases exposure time and is easily discovered and thus damaged.
The invention provides a modularized combined robot platform, which is called a modularized combined robot platform with application number 201810572052.4 and application publication number CN108909877A, and comprises a plurality of wheel-type trolleys, wherein the wheel-type trolleys are combined in a series connection and parallel connection mode through connecting devices, and two sets of driving systems of a walking mechanism and a turning mechanism are arranged on the wheel-type trolleys; the connecting device comprises a front connecting device, a rear connecting device, a left connecting device, a right connecting device, a traveling mechanism, a turning mechanism and a motor driving shaft, wherein the traveling mechanism comprises wheels, a hub motor, a brake pad, a wheel supporting shaft and a wheel support, and the turning mechanism comprises chain wheels connected to the wheel support, tension chain wheels connected to a trolley body through supporting shafts and driving chain wheels connected to a stepping motor through motor driving shafts.
The invention discloses a modular robot system, which is named as 'a modular robot system' according to application number 201710081752.9 and application publication number CN106625632A, and comprises a main control module, an ultrasonic input module, a first motor module, a second motor module and a universal wheel module, wherein two surfaces of the universal wheel module are respectively connected with the main control module and the ultrasonic input module, and two opposite surfaces of the main control module are respectively connected with the first motor module and the second motor module.
the prior art provides a modularized robot based on a trolley, but the combined mode of the modularized trolley is limited, and the movement direction is single. There is a need for a modular and versatile robot based on a cart that has a variety of modular modes, large load, multiple degrees of freedom of movement, and a wide range of uses.
Disclosure of Invention
The invention aims to provide a modular multi-change robot based on a trolley, which has various combined modes, large load, multiple freedom degrees of movement and wide application.
A modular polytropic robot based on a cart, comprising:
The trolley module is characterized in that two sides of the trolley module are respectively provided with a driving trolley, two rotating trolleys are arranged on the inner side of the trolley module, the driving trolleys sequentially pass through a first connecting shaft, a second connecting shaft and a third connecting shaft and are fixedly connected, the driving trolleys and the rotating trolleys are arranged in a mirror image mode, a front end connecting piece is fixed between second tracks of the rotating trolleys, a rear end connecting piece is fixed between second fixing plates of the rotating trolleys, the driving trolleys and the rotating trolleys are parallel to each other, the height of the driving trolleys is greater than that of the rotating trolleys, and the positions of the front end connecting piece and the rear;
A first belt wheel, a second belt wheel, a third belt wheel, a fourth belt wheel, a fifth belt wheel and a sixth belt wheel of the driving trolley are fixed on a first fixing plate and are respectively sleeved on the inner side of the first crawler belt, a first swing cylinder is arranged on the third belt wheel, and a second swing cylinder is arranged on the fourth belt wheel;
The seventh belt wheel, the eighth belt wheel, the ninth belt wheel, the tenth belt wheel, the eleventh belt wheel and the twelfth belt wheel of the rotary trolley are fixed on the second fixing plate and are respectively sleeved on the inner side of the second crawler belt, the ninth belt wheel is provided with a third swing cylinder, and the tenth belt wheel is provided with a fourth swing cylinder.
The surface of first track sets up the inner groovy, first fixed plate and second fixed plate are parallel to each other, and press close to the setting.
The first swing cylinder drives the third belt wheel to rotate after being inflated, the second swing cylinder drives the fourth belt wheel to rotate after being inflated, the first belt wheel, the second belt wheel, the fifth belt wheel and the sixth belt wheel form rectangular four corners, and the third belt wheel and the fourth belt wheel are located on the same side of a straight line where the second belt wheel and the fifth belt wheel are located.
The third swing cylinder drives a ninth belt wheel after being inflated, the fourth swing cylinder drives a tenth belt wheel after being inflated, the seventh belt wheel, the eighth belt wheel, the eleventh belt wheel and the twelfth belt wheel form rectangular four corners, and the ninth belt wheel and the tenth belt wheel are located on the same side of a straight line where the eighth belt wheel and the eleventh belt wheel are located.
The trolley module is provided with a plurality of front rotary trolleys, rear end connecting pieces on the front rotary trolleys are fixed with front end connecting pieces on the rear rotary trolleys to form X-direction supporting legs and Y-direction supporting legs, a plurality of X-direction supporting legs are arranged on two sides of each Y-direction supporting leg, front end connecting pieces or rear end connecting pieces of the X-direction supporting legs are fixed on first fixing plates of the Y-direction supporting legs, and the X-direction supporting legs and the Y-direction supporting legs are respectively in a strip shape.
the trolley module is provided with a plurality of trolley modules, the rear end connecting piece on the front rotating trolley is fixed with the front end connecting piece on the rear rotating trolley to form a rotating trolley supporting leg, and the first fixing plates on the two sides of the trolley module are respectively used for fixing the rotating trolley supporting leg.
the trolley module is provided with a plurality of trolley modules, a rear end connecting piece on the front rotating trolley is fixed with a front end connecting piece on the rear rotating trolley to form Y-direction supporting legs and Z-direction supporting legs, a plurality of Z-direction supporting legs are arranged on two sides of the Y-direction supporting legs, the front end connecting piece or the rear end connecting piece of each Z-direction supporting leg is fixed on a first fixing plate of each Y-direction supporting leg, each Y-direction supporting leg is in a bar shape, and each Z-direction supporting leg is in an L shape.
The trolley module is provided with a plurality of front rotary trolleys, rear end connecting pieces on the front rotary trolleys are fixed with front end connecting pieces on the rear rotary trolleys to form Y-direction supporting legs and X-direction rotary wheels, and the front end connecting pieces or the rear end connecting pieces of the X-direction rotary wheels are fixed on first fixing plates of the Y-direction supporting legs to form a ring.
The trolley module is provided with a plurality of front rotary trolleys, rear end connecting pieces on the front rotary trolleys are fixed with front end connecting pieces on the rear rotary trolleys to form Y-direction rotary wheels, and the front end connecting pieces or the rear end connecting pieces of the Y-direction rotary wheels are fixed on a first fixing plate of the trolley module to form a ring.
The trolley module is provided with a plurality of trolley modules, a rear end connecting piece on the front rotating trolley is fixed with a front end connecting piece on the rear rotating trolley to form a closed Z-direction rotating wheel and X-direction supporting legs, the X-direction supporting legs are arranged on the Z-direction rotating wheel at intervals, and the front end connecting piece or the rear end connecting piece of the X-direction supporting legs is fixed on a first fixing plate of the Z-direction rotating wheel and is positioned on two sides of the Z-direction rotating wheel.
The two sides of a trolley module are respectively provided with a driving trolley, the inner side of the trolley module is provided with two rotating trolleys, the driving trolleys are sequentially connected and fixed through a first connecting shaft, a second connecting shaft and a third connecting shaft, the driving trolleys and the rotating trolleys are arranged in a mirror image mode, a front end connecting piece is fixed between second tracks of the rotating trolleys, a rear end connecting piece is fixed between second fixing plates of the rotating trolleys, the driving trolleys and the rotating trolleys are parallel to each other, the height of the driving trolleys is greater than that of the rotating trolleys, and the positions of the front end connecting piece and; a first belt wheel, a second belt wheel, a third belt wheel, a fourth belt wheel, a fifth belt wheel and a sixth belt wheel of the driving trolley are fixed on a first fixing plate and are respectively sleeved on the inner side of the first crawler belt, a first swing cylinder is arranged on the third belt wheel, and a second swing cylinder is arranged on the fourth belt wheel; the seventh belt wheel, the eighth belt wheel, the ninth belt wheel, the tenth belt wheel, the eleventh belt wheel and the twelfth belt wheel of the rotary trolley are fixed on the second fixing plate and are respectively sleeved on the inner side of the second crawler belt, the ninth belt wheel is provided with a third swing cylinder, and the tenth belt wheel is provided with a fourth swing cylinder.
the swing cylinder drives the module trolley to drive the trolley and the rotating trolley to move, and the swing type trolley has the functions of deformation, obstacle crossing and complex terrain movement. The driving trolley and the rotating trolley mainly comprise belt wheels, swing cylinders, fixing plates, caterpillar bands and the like. The driving trolley is larger than the rotating trolley in the X direction, and the rotating trolley is larger than the driving trolley in the Y direction, so that the driving trolley is used as a power unit of the trolley module, the front-section connecting piece of the rotating trolley moves along with the crawler belt to realize the deformation combination of the trolley module, and the front-section connecting piece and the rear-end connecting piece ensure the connection between the trolley modules. The modular multi-change robot based on the trolley realizes the switching of multiple modes of the circular rotating wheels in the plane, the multi-foot, the X direction and the Y direction and the movement in multiple directions. The combined type multi-functional combined robot has the characteristics of various combined modes, large load, multiple freedom degrees of movement and wide application, and can be used for obstacle crossing, complex terrain investigation and teaching demonstration. The combined type hydraulic control device has the advantages of various combined modes, large load, multiple freedom degrees of movement and wide application.
The invention has the beneficial effects that:
1. the invention utilizes the driving trolley, the rotating trolley and the dimensional relationship of the two trolleys in the X direction and the Y direction to realize that the driving trolley is used as a module trolley, the power part of the whole robot is used, and the rotating trolley is used for realizing the modification combination of the module trolley;
2. The modular trolley can be combined in multiple modes such as plane, four-foot, X-direction and Y-direction circular rotating wheels and the like, and can adapt to the movement of various complex terrains.
drawings
FIG. 1 is a schematic view of a left-view perspective structure of a trolley module according to the present invention;
FIG. 2 is a schematic diagram of a right-view perspective structure of a trolley module according to the present invention;
FIG. 3 is a schematic view of the driving cart according to the present invention;
FIG. 4 is a schematic view of the structure of the cart according to the present invention;
FIG. 5 is a schematic view of the structure of the X-direction leg and the Y-direction leg of the present invention;
FIG. 6 is a schematic structural view of a rotating cart leg and cart module of the present invention;
FIG. 7 is a schematic view of the structure of the Y-direction leg and the Z-direction leg of the present invention;
FIG. 8 is a schematic view of the structure of the Y-direction support leg and the X-direction rotating wheel of the present invention;
FIG. 9 is a schematic view of the Y-direction rotating wheel and cart module of the present invention;
FIG. 10 is a schematic view of the structure of the X-direction leg and the Z-direction rotating wheel of the present invention;
in the figure: 100. a trolley module, 200, a driving trolley, 300, a rotating trolley, 1, a first belt wheel, 2, a second belt wheel, 3, a third belt wheel, 4, a fourth belt wheel, 5, a fifth belt wheel, 6, a sixth belt wheel, 7, a first fixing plate, 8, a first swing cylinder, 9, a second swing cylinder, 10, a first crawler belt, 11, a seventh belt wheel, 12, an eighth belt wheel, 13, a ninth belt wheel, 14, a tenth belt wheel, 15, an eleventh belt wheel, 16, a twelfth belt wheel, 17, a second fixing plate, 18, a third swing cylinder, 19, a fourth swing cylinder, 20, a second crawler belt, 21, a first connecting shaft, 22, a second connecting shaft, 23, a third connecting shaft, 24, a front end connecting member, 25, a rear end connecting member, 31, an X-direction supporting leg, 32, a Y-direction supporting leg, 33, a rotating trolley supporting leg, 34, a Z-direction supporting leg, 35, an X-direction rotating wheel, 36, A Y-direction rotating wheel, and 37 and a Z-direction rotating wheel.
Detailed Description
The invention is further described below with reference to the following figures and specific examples.
variation 1:
A modular polytropic robot based on a cart, comprising: the trolley module 100 is provided with a driving trolley 200 on each of two sides of the trolley module 100, two rotating trolleys 300 are arranged on the inner side of the trolley module 100 and sequentially pass through a first connecting shaft 21, a second connecting shaft 22 and a third connecting shaft 23 are fixedly connected, the driving trolley 200 and the rotating trolleys 300 are arranged in a mirror image mode, front-end connecting pieces 24 are fixedly arranged between second tracks 20 of the rotating trolleys 300, rear-end connecting pieces 25 are fixedly arranged between second fixing plates 17 of the rotating trolleys 300, the driving trolleys 200 and the rotating trolleys 300 are parallel to each other, the height of the driving trolleys 200 is larger than that of the rotating trolleys 300, and the positions of the front-end connecting pieces 24 and the rear-;
a first belt wheel 1, a second belt wheel 2, a third belt wheel 3, a fourth belt wheel 4, a fifth belt wheel 5 and a sixth belt wheel 6 of the driving trolley 200 are fixed on a first fixing plate 7 and are respectively sleeved on the inner side of a first crawler belt 10, a first swing cylinder 8 is arranged on the third belt wheel 3, and a second swing cylinder 9 is arranged on the fourth belt wheel 4; the seventh belt wheel 11, the eighth belt wheel 12, the ninth belt wheel 13, the tenth belt wheel 14, the eleventh belt wheel 15 and the twelfth belt wheel 16 of the rotating trolley 300 are fixed on a second fixing plate 17 and are respectively sleeved on the inner side of the second crawler belt 20, the ninth belt wheel 13 is provided with a third swing cylinder 18, and the tenth belt wheel 14 is provided with a fourth swing cylinder 19. The outer surface of the first caterpillar 10 is provided with an inner groove, and the first fixing plate 7 and the second fixing plate 17 are parallel to each other and arranged adjacently. The first swing cylinder 8 drives the third belt wheel 3 to rotate after being inflated, the second swing cylinder 9 drives the fourth belt wheel 4 to rotate after being inflated, the first belt wheel 1, the second belt wheel 2, the fifth belt wheel 5 and the sixth belt wheel 6 form rectangular four corners, and the third belt wheel 3 and the fourth belt wheel 4 are located on the same side of a straight line where the second belt wheel 2 and the fifth belt wheel 5 are located. The third swing cylinder 18 is charged with air to drive the ninth belt wheel 13, the fourth swing cylinder 19 is charged with air to drive the tenth belt wheel 14, the seventh belt wheel 11, the eighth belt wheel 12, the eleventh belt wheel 15 and the twelfth belt wheel 16 to form four rectangular corners, and the ninth belt wheel 13 and the tenth belt wheel 14 are positioned on the same side of a straight line where the eighth belt wheel 12 and the eleventh belt wheel 15 are positioned.
the trolley module 100 is provided with a plurality of rear end connecting pieces 24 on the front rotary trolley 300 and front end connecting pieces 25 of the rear rotary trolley 300 which are fixed to form X-direction supporting legs 31 and Y-direction supporting legs 32, a plurality of X-direction supporting legs 31 are arranged on two sides of each Y-direction supporting leg 32, the front end connecting pieces 24 or the rear end connecting pieces 25 of the X-direction supporting legs 31 are fixed on first fixing plates 7 of the Y-direction supporting legs 32, and the X-direction supporting legs 31 and the Y-direction supporting legs 32 are respectively in a strip shape.
The swing cylinder drives the movement of the driving trolley 200 and the rotating trolley 300 in the module trolley, and the module trolley has the functions of deformation, obstacle crossing and complex terrain movement. The driving trolley 200 and the rotating trolley 300 mainly comprise belt wheels, swing cylinders, fixing plates, caterpillar tracks and other parts. The driving trolley 200 is larger than the rotating trolley 300 in the X direction, and the rotating trolley 300 is larger than the driving trolley 200 in the Y direction, so that the driving trolley 200 is used as a power unit of the trolley module 100, the front section connecting piece of the rotating trolley 300 moves along with the crawler to realize the modified combination of the trolley module 100, and the front section connecting piece and the rear end connecting piece ensure the connection between the trolley modules 100.
the cylinder bodies of the first swing cylinder 8 and the second swing cylinder 9 are fixedly connected with a first fixing plate 7, the rotating shafts of the first swing cylinder 8 and the second swing cylinder 9 are respectively fixedly connected with a third belt wheel 3 and a fourth belt wheel 4, the first belt wheel 1, the second belt wheel 2, the fifth belt wheel 5 and the sixth belt wheel 6 are rotatably connected with the first fixing plate 7, the first belt wheel 1, the second belt wheel 2, the third belt wheel 3, the fourth belt wheel 4, the fifth belt wheel 5 and the sixth belt wheel 6 are respectively meshed with a first crawler belt 10, the first swing cylinder 8 and the second swing cylinder 9 drive the third belt wheel 3 and the fourth belt wheel 4 to rotate so as to further drive the first crawler belt 10 to rotate, and the first belt wheel 1, the second belt wheel 2, the fifth belt wheel 5 and the sixth belt wheel 6 play a supporting role. Similarly, the cylinder bodies of the third swing cylinder 18 and the fourth swing cylinder 19 are fixed on the second fixing plate 17, the rotating shaft drives the second crawler belt 20 to rotate through the ninth belt pulley 13 and the tenth belt pulley 14, and the seventh belt pulley 11, the eighth belt pulley 12, the eleventh belt pulley 15 and the twelfth belt pulley 16 are supporting belt pulleys. In order to ensure the contact between the driving trolley and the ground, the driving trolley is higher than the rotating trolley in the X direction; to avoid mechanical interference, the length of the rotating carriage in the Y direction is greater than the driving carriage.
The first connecting shaft 21, the second connecting shaft 22 and the third connecting shaft 23 ensure that the left-end driving trolley 200, the left-end rotating trolley 300, the right-end rotating trolley 300 and the right-end driving trolley 200 are fixedly connected in sequence from left to right; the front connecting piece 24 is fixedly connected with the second caterpillar band 20 of the left-end rotating trolley 300 and the right-end rotating trolley 300, when the second caterpillar band 20 of the left-end rotating trolley 300 and the right-end rotating trolley 300 rotates, the front connecting piece 24 rotates along with the second caterpillar band 20, and the rear connecting piece 25 is fixedly connected with the second fixing plate 17 of the left-end rotating trolley 300 and the right-end rotating trolley 300.
The first X-direction supporting leg, the second X-direction supporting leg, the third X-direction supporting leg, the fourth X-direction supporting leg, the fifth X-direction supporting leg, the sixth X-direction supporting leg, the seventh X-direction supporting leg and the eighth X-direction supporting leg can drive a modularized multi-change robot system based on the trolley to move forward or backward in the X direction. Get rid of the module dolly of Y direction landing leg 32, X direction landing leg one, X direction landing leg four, X direction landing leg five, X direction landing leg eight contains 7 module dollies, X direction landing leg two, X direction landing leg three, X direction landing leg six, X direction landing leg seven contains 6 module dollies, can guarantee like this that when the flat modular polytropic robot based on the dolly that X direction landing leg one, X direction landing leg two, X direction landing leg three, X direction landing leg four, X direction landing leg five, X direction landing leg six, X direction landing leg seven, X direction landing leg eight, Y direction landing leg is constituteed turns into many landing legs robot, the landing leg height of Y direction landing leg 32 both sides is unanimous, mainly by X direction landing leg one, X direction landing leg four, X direction landing leg five, X direction landing leg eight is supported.
Variation 2:
The trolley module 100 is provided with a plurality of rear end connecting pieces 24 on the front rotary trolley 300 and front end connecting pieces 25 on the rear rotary trolley 300 which are fixed to form rotary trolley supporting legs 33, and the rotary trolley supporting legs 33 are respectively fixed on the first fixing plates 7 on two sides of the trolley module 100.
The X-direction supporting leg connection condition of the modular multi-change robot based on the trolley is as follows, a first module trolley, a second module trolley, a third module trolley, a fourth module trolley, a fifth module trolley, a front section connecting piece 24 and a rear end connecting piece 25 of a sixth module trolley are sequentially and fixedly connected, a front section connecting piece 24 and a first fixing plate 7 of a left end driving trolley 200 in a eighth module trolley are fixedly connected, a rear end connecting piece 25 and a first fixing plate 7 of a right end driving trolley 200 in the eighth module trolley are fixedly connected, a ninth module trolley, a tenth module trolley, a eleventh module trolley, a twelfth module trolley, a thirteenth module trolley and a front section connecting piece 24 and a rear end connecting piece 25 of a fourteenth module trolley are sequentially and fixedly connected.
variation 3:
The trolley modules 100 are multiple, the rear end connecting piece 24 on the front rotary trolley 300 is fixed with the front end connecting piece 25 on the rear rotary trolley 300 to form Y-direction supporting legs 32 and Z-direction supporting legs 34, a plurality of Z-direction supporting legs 34 are arranged on two sides of the Y-direction supporting legs 32, the front end connecting piece 24 or the rear end connecting piece 25 of the Z-direction supporting legs 34 are fixed on the first fixing plates 7 of the Y-direction supporting legs 32, the Y-direction supporting legs 32 are in a strip shape, and the Z-direction supporting legs 34 are in an L shape.
Variation 4:
The cart module 100 has a plurality of rear end connectors 24 on the front rotary cart 300 and front end connectors 25 on the rear rotary cart 300 fixed to form Y-direction support legs 32 and X-direction rotary wheels 35, and the front end connectors 24 or the rear end connectors 25 of the X-direction rotary wheels 35 are fixed to the first fixing plates 7 of the Y-direction support legs 32 to form a ring.
variation 5:
the trolley module 100 is provided with a plurality of rear end connecting pieces 24 on the front rotary trolley 300 and front end connecting pieces 25 on the rear rotary trolley 300 which are fixed to form a Y-direction rotary wheel 36, and the front end connecting pieces 24 or the rear end connecting pieces 25 of the Y-direction rotary wheel 36 are fixed to the first fixing plate 7 of the trolley module 100 to form a ring.
Variation 6:
The cart module 100 has a plurality of front rotary carts 300, wherein the rear connecting members 24 are fixed to the front rotary carts 300, and the front rotary carts 300 are fixed to the front connecting members 25 to form closed Z-direction rotary wheels 37 and X-direction supporting legs 31, the X-direction supporting legs 31 are arranged on the Z-direction rotary wheels 37 at intervals, and the front connecting members 24 or the rear connecting members 25 of the X-direction supporting legs 31 are fixed to the first fixing plates 7 of the Z-direction rotary wheels 37 and located on two sides of the Z-direction rotary wheels 37.
the modular multi-change robot based on the trolley realizes the switching of multiple modes of the circular rotating wheels in the plane, the multi-foot, the X direction and the Y direction and the movement in multiple directions. The combined type multi-functional combined robot has the characteristics of various combined modes, large load, multiple freedom degrees of movement and wide application, and can be used for obstacle crossing, complex terrain investigation and teaching demonstration.
Through the rotation of controlling each swing cylinder, realize based on the many variants and the combination control of the modularization changeable robot of dolly, can realize the complicated topography motion of a plurality of directions and hinder more to can realize accurate orbit control, possess other incomparable advantages based on the modularization changeable robot system of dolly.
the foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A modular polytropic robot based on a trolley, comprising:
The trolley comprises a trolley module (100), wherein two sides of the trolley module (100) are respectively provided with a driving trolley (200), the inner side of the trolley module is provided with two rotating trolleys (300), the driving trolleys (200) and the rotating trolleys (300) sequentially pass through a first connecting shaft (21), a second connecting shaft (22) and a third connecting shaft (23) are fixedly connected, the driving trolleys (200) and the rotating trolleys (300) are arranged in a mirror image mode, a front end connecting piece (24) is fixed between second tracks (20) of the rotating trolleys (300), a rear end connecting piece (25) is fixed between second fixing plates (17) of the rotating trolleys (300), the driving trolleys (200) and the rotating trolleys (300) are parallel to each other, the height of the driving trolleys (200) is greater than that of the rotating trolleys (300), and the positions of the front end connecting piece (24) and the;
a first belt wheel (1), a second belt wheel (2), a third belt wheel (3), a fourth belt wheel (4), a fifth belt wheel (5) and a sixth belt wheel (6) of the driving trolley (200) are fixed on a first fixing plate (7) and are respectively sleeved on the inner side of a first crawler belt (10), a first swing cylinder (8) is arranged on the third belt wheel (3), and a second swing cylinder (9) is arranged on the fourth belt wheel (4);
The novel crawler belt wheel is characterized in that a seventh belt wheel (11), an eighth belt wheel (12), a ninth belt wheel (13), a tenth belt wheel (14), an eleventh belt wheel (15) and a twelfth belt wheel (16) of the rotary trolley (300) are fixed on a second fixing plate (17) and are respectively sleeved on the inner side of a second crawler belt (20), a third swing cylinder (18) is arranged on the ninth belt wheel (13), and a fourth swing cylinder (19) is arranged on the tenth belt wheel (14).
2. The dolly-based modular polytropic robot according to claim 1, wherein the outer surface of the first endless track (10) is provided with inner grooves, and the first (7) and second (17) fastening plates are parallel to each other and arranged close together.
3. The trolley-based modular multivariable robot according to claim 1, wherein the first swing cylinder (8) is inflated to drive the third pulley (3) to rotate, the second swing cylinder (9) is inflated to drive the fourth pulley (4) to rotate, the first pulley (1), the second pulley (2), the fifth pulley (5) and the sixth pulley (6) form four rectangular corners, and the third pulley (3) and the fourth pulley (4) are located on the same side of a straight line where the second pulley (2) and the fifth pulley (5) are located.
4. the cart-based modular multivariable robot of claim 1, wherein the third swing cylinder (18) is inflated to drive a ninth pulley (13), the fourth swing cylinder (19) is inflated to drive a tenth pulley (14), the seventh pulley (11), the eighth pulley (12), the eleventh pulley (15) and the twelfth pulley (16) form four corners of a rectangle, and the ninth pulley (13) and the tenth pulley (14) are located on the same side of a straight line of the eighth pulley (12) and the eleventh pulley (15).
5. The modular multi-robot trolley-based according to claim 1, wherein the trolley module (100) has a plurality of rear connectors (25) on the front rotary trolley (300) and the front connectors (24) on the rear rotary trolley (300) to form X-direction legs (31) and Y-direction legs (32), a plurality of X-direction legs (31) are disposed on two sides of the Y-direction legs (32), the front connectors (24) or the rear connectors (25) of the X-direction legs (31) are fixed on the first fixing plates (7) of the Y-direction legs (32), and the X-direction legs (31) and the Y-direction legs (32) are respectively in a bar shape.
6. The modular multi-robot trolley-based according to claim 1, wherein the trolley module (100) has a plurality of front rotary trolleys (300) and rear rotary trolleys (300) with rear connectors (25) fixed thereon and front connectors (24) fixed thereon to form rotary trolley legs (33), and the first fixing plates (7) on two sides of the trolley module (100) respectively fix the rotary trolley legs (33).
7. The modular multi-robot trolley-based according to claim 1, wherein the trolley module (100) has a plurality of rear connectors (25) on the front rotary trolley (300) and the front connectors (24) on the rear rotary trolley (300) to form Y-direction legs (32) and Z-direction legs (34), a plurality of Z-direction legs (34) are disposed on two sides of the Y-direction legs (32), the front connectors (24) or the rear connectors (25) of the Z-direction legs (34) are fixed on the first fixing plates (7) of the Y-direction legs (32), the Y-direction legs (32) are bar-shaped, and the Z-direction legs (34) are L-shaped.
8. The modular multi-robot cart based on the claim 1, wherein the cart module (100) has a plurality of front rotary carts (300) with rear connectors (25) fixed to front connectors (24) of rear rotary carts (300) to form the Y-direction legs (32) and the X-direction rotary wheels (35), and the front connectors (24) or the rear connectors (25) of the X-direction rotary wheels (35) are fixed to the first fixing plates (7) of the Y-direction legs (32) to form a ring shape.
9. The modular multi-robot cart based on claim 1, wherein the cart module (100) has a plurality of front rotary carts (300) with rear connectors (25) fixed to the front connectors (24) of the rear rotary carts (300) to form a Y-direction rotary wheel (36), and the front connectors (24) or the rear connectors (25) of the Y-direction rotary wheel (36) are fixed to the first fixing plate (7) of the cart module (100) to form a ring shape.
10. The modular multi-robot trolley-based according to claim 1, wherein the trolley module (100) has a plurality of rear connectors (25) on the front rotary trolley (300) and front connectors (24) on the rear rotary trolley (300) to form a closed Z-direction rotary wheel (37) and X-direction legs (31), the Z-direction rotary wheel (37) is provided with the X-direction legs (31) at intervals, and the front connectors (24) or the rear connectors (25) of the X-direction legs (31) are fixed on the first fixing plate (7) of the Z-direction rotary wheel (37) and located on two sides of the Z-direction rotary wheel (37).
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| Application Number | Priority Date | Filing Date | Title |
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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 true CN110103212B (en) | 2019-12-06 |
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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 |
| 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 |
| 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 |
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