CN110171502B - Foot-tracked robot - Google Patents
Foot-tracked robot Download PDFInfo
- Publication number
- CN110171502B CN110171502B CN201910455500.7A CN201910455500A CN110171502B CN 110171502 B CN110171502 B CN 110171502B CN 201910455500 A CN201910455500 A CN 201910455500A CN 110171502 B CN110171502 B CN 110171502B
- Authority
- CN
- China
- Prior art keywords
- crawler
- driving motor
- wheels
- walking
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
-
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention provides a foot-tracked robot, which belongs to the technical field of walking robots and comprises a robot body, an information control processor, crawler wheels, a first driving motor, a second driving motor, a walking device, a camera and a level meter, wherein the information control processor is connected with the crawler wheels; the camera and the level meter are electrically connected with the information control processor; the walking device and the crawler wheels are arranged on two sides of the machine body, a crawler is arranged on each crawler wheel in a winding mode, the first driving motor is in transmission connection with the walking device, the second driving motor is in transmission connection with the crawler wheels, and the first driving motor and the second driving motor are both electrically connected with the information control processor. The walking mode of the crawler robot can be switched according to the road conditions, for example: the walking robot can move forward in a mode of changing into crawler walking on a flat road, and can move forward in a mode of changing into walking of a walking device on an uneven mountain road or a road with obstacles, so that the obstacle crossing and walking capability of the walking robot are effectively improved, and the application range of the walking robot is wider.
Description
Technical Field
The invention relates to the technical field of walking robots, in particular to a foot-tracked robot.
Background
With the development of mechanical technology, more and more robots are generated in the era; however, the existing robot is driven by wheel type, crawler type, foot type and wheel-crawler combined type, the research on the combination of the foot type and the crawler type is less, the foot type robot is not fast to walk, the obstacle crossing capability of the crawler type robot is not enough, and the walking of the robot can be restricted by roads and can not be normally carried out; accordingly, it is an urgent technical problem to provide a robot capable of changing a walking mode according to a road situation.
Disclosure of Invention
The invention provides a track robot, aiming at solving the technical problem that the existing robot cannot work normally due to the influence of road conditions when walking.
The invention is realized by the following steps:
a kind of pedrail robot, including fuselage, information control processor, crawler wheel, the first driving motor, the second driving motor, running gear, lens and spirit level; wherein the content of the first and second substances,
the camera, the level gauge and the information control processor are all arranged on the machine body, and the camera and the level gauge are all electrically connected with the information control processor; running gear with the athey wheel all sets up the both sides of fuselage, just around being equipped with the track on the athey wheel, first driving motor with the running gear transmission is connected, second driving motor with the athey wheel transmission is connected, first driving motor and second driving motor all with the information control treater electricity is connected.
In order to better implement the present invention, in the above structure, the walking device includes a mechanical leg and a transmission shaft, and the first driving motor is in transmission connection with the mechanical leg through the transmission shaft.
In order to better realize the invention, the above structure is further optimized, the walking device comprises six mechanical legs, each mechanical leg comprises a thigh, a shank and a first telescopic rod, one end of each thigh is arranged on the transmission shaft, the other end of each thigh is hinged with the shank, and two ends of each first telescopic rod are respectively hinged with the thigh and the shank.
In order to better implement the present invention, in the above structure, the mechanical leg further includes a toe and a second telescopic rod, the toe is hinged to one end of the lower leg far from the thigh, and two ends of the second telescopic rod are respectively hinged to the toe and the lower leg.
In order to better implement the present invention, the above structure is further optimized, wherein the toes are provided in two groups, and the two groups of toes are respectively provided on both sides of the lower leg end in the forward and backward directions.
In order to better implement the present invention, the above structure is further optimized, the number of the toes in each group is two, and the included angle between the two toes in the same group is greater than 0 ° and less than 90 °.
In order to better implement the present invention, in the above structure, further optimization is made, wherein a foot end sensor for detecting a road surface condition is provided at a bottom of the toes, and the foot end sensor is electrically connected to the information control processor.
In order to better implement the present invention, the above structure is further optimized, wherein the track wheel includes a driving wheel, an inducer and a bogie wheel, the driving wheel is in transmission connection with the second driving motor, the track is wound around the driving wheel and the bogie wheel, and the inducer is tangent to an inner side surface of the track.
In order to better implement the present invention, in the above structure, a further optimization is made, wherein the driving wheel, the inducer and the bogie wheel are all rotatably disposed on the transmission shaft.
In order to better implement the invention, the structure is further optimized, a plurality of supporting rollers are rotatably arranged on the side wall of the machine body, and the supporting rollers are tangent to the inner side surface of the crawler belt on the side close to the ground.
The invention has the following technical effects:
the walking mode of the crawler robot can be switched according to the road conditions, for example: the walking robot can move forward in a mode of changing into crawler walking on a flat road, and can move forward in a mode of changing into walking of a walking device on an uneven mountain road or a road with obstacles, so that the obstacle crossing and walking capability of the walking robot are effectively improved, and the application range of the walking robot is wider.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural view of a track robot of the present invention;
FIG. 2 is a schematic view of the internal structure of a tracked robot according to the present invention;
fig. 3 is a schematic structural diagram of a mechanical leg in the foot-tracked robot.
Icon: 101-a fuselage; 102 a-a first drive motor; 102 b-a second drive motor; 103-a camera; 104-a level; 105-a drive shaft; 106 a-thigh; 106 b-lower leg; 106 c-toe; 107 a-a first telescopic rod; 107 b-a second telescopic rod; 108 a-a drive wheel; 108 b-inducer; 108 c-road wheel; 109-caterpillar tracks.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Example 1, as shown in reference to figures 1 to 3,
a caterpillar robot comprises a body 101, an information control processor, caterpillar wheels, a first driving motor 102a, a second driving motor 102b, a walking device, a camera 103 and a level gauge 104; wherein the content of the first and second substances,
the camera 103, the level gauge 104 and the information control processor are all arranged on the machine body 101, and the camera 103 and the level gauge 104 are all electrically connected with the information control processor;
the walking device and the crawler wheels are arranged on two sides of the machine body 101, a crawler 109 is wound on the crawler wheels, the first driving motor 102a is in transmission connection with the walking device, the second driving motor 102b is in transmission connection with the crawler wheels, and the first driving motor 102a and the second driving motor 102b are both electrically connected with the information control processor.
The walking mode of the foot robot with the structure can be changed according to the road surface condition so as to improve the obstacle-crossing capability of the foot robot;
when the crawler-type robot is in operation, a worker can use the crawler-type robot to convey materials, when the crawler-type robot walks on a road surface, the camera 103 and the level gauge 104 on the body 101 of the crawler-type robot can detect the situation on the road surface, and the information control processor judges the moving mode; when the road surface condition is relatively flat, the information control processor controls the second driving motor 102b to rotate, and the second driving motor 102b drives the crawler 109 to move, so that the crawler robot can move at a higher speed on the flat road;
when the camera 103 and the level gauge 104 on the body 101 detect that there is an obstacle on the road surface, and the tracked robot cannot move forward, the first driving motor 102a drives the traveling device, so that the traveling device drives the tracked robot to move forward beyond the obstacle, thereby improving the efficiency of the tracked robot in transporting materials.
Preferably, the walking device comprises a mechanical leg and a transmission shaft 105, and the first driving motor 102a is in transmission connection with the mechanical leg through the transmission shaft 105; when the tracked robot uses the track 109 to move forward, the first driving motor 102a controls the mechanical legs through the transmission shaft 105, so that one end of the mechanical legs, which is in contact with the ground, rotates to the upper part of the robot body, thereby avoiding the situation that the tracked robot cannot move forward normally due to the contact of the mechanical legs with the ground; when the tracked robot needs to use the walking device to move forward, the first driving motor 102a drives the mechanical legs through the transmission shaft 105, and calculates the motion information of each mechanical leg through the information control processor, so as to control the lifting or falling of the mechanical legs to complete the walking of the tracked robot.
Preferably, the walking device comprises six mechanical legs, wherein the mechanical legs comprise an upper leg 106a, a lower leg 106b and a first telescopic rod 107 a; wherein the content of the first and second substances,
one end of the thigh 106a is connected with the transmission shaft 105, the other end of the thigh 106a is hinged with the lower leg 106b, two ends of the first telescopic rod 107a are respectively hinged with the thigh 106a and the lower leg 106b, and the angle between the thigh 106a and the lower leg 106b can be changed through the extension and contraction of the first telescopic rod 107a, so that the mechanical leg can finish the walking of the foot-tracked robot.
More preferably, the mechanical leg further comprises a toe 106c and a second telescopic rod 107b, the toe 106c is hinged at one end of the lower leg 106b far away from the thigh 106a, and two ends of the second telescopic rod 107b are respectively hinged with the lower leg 106b and the toe 106 c; the arrangement of the toe 106c enables the tracked robot to adapt to various road surfaces, the walking is more stable, and the included angle between the toe 106c and the shank 106b can be changed through the extension and contraction of the second telescopic rod 107b, so that the tracked robot is more convenient to walk.
Preferably, the first telescopic rod 107a and the second telescopic rod 107b are both hydraulic rods, a hydraulic device is arranged in the body 101 of the tracked robot, the hydraulic device is respectively connected with the information control processor, the first telescopic rod 107a and the second telescopic rod 107b, and the information control processor realizes the extension and retraction of the first telescopic rod 107a and the second telescopic rod 107b through the hydraulic device, so that the change of the angle between the thigh 106a and the shank 106b and the angle between the shank 106b and the toe 106c are realized, and the tracked robot is more convenient to move.
Preferably, there are two groups of toes 106c, and the two groups of toes 106c are respectively arranged on the front side and the rear side of the shank 106b, so that the walking of the track robot is more stable.
Preferably, the number of each group of toes 106c is two, and the included angle between the two toes 106c is greater than O ° and smaller than 90 °; the arrangement of the structure can effectively increase the stability of the tracked robot when walking, so that the tracked robot walks more stably.
Optimally, a foot end sensor is arranged at the bottom of the toe 106c and is electrically connected with the information control processor; the foot end sensor can be matched with the camera 103 and the level gauge 104 to judge the state of the road surface more accurately, so that the walking of the foot robot is more convenient.
Embodiment 2 referring to figures 1 to 3,
the implementation principle and the generated technical effects of the track robot provided by the embodiment of the invention are the same as those of the embodiment 1, and for the sake of brief description, the corresponding contents in the embodiment 1 can be referred to where this embodiment is not mentioned.
The device designed as described above can basically satisfy the use of the track robot, but the designer has further improved the device in order to further improve the function thereof.
The track wheels comprise a driving wheel 108a, an inducer 108b and a bogie wheel 108c, the driving wheel 108a is in transmission connection with the second driving motor 102b, the track 109 is wrapped on the driving wheel 108a and the bogie wheel 108c, and the inducer 108b is tangent to the inner side surface of the track 109; when the tracked robot needs to advance through the tracks 109, the second driving motor 102b drives the driving wheel 108a to rotate, and the driving wheel 108a drives the tracks 109 to rotate, so that the tracked robot can walk on a flat road.
Preferably, the driving wheel 108a, the inducer 108b and the bogie wheel 108c are all rotatably arranged on the transmission shaft 105, so that the structure of the foot-tracked robot is more compact.
Preferably, a plurality of supporting rollers are arranged on the side wall of the body 101, and the supporting rollers are tangent to the inner side surface of one side of the crawler 109 close to the ground; the supporting wheels can enable the crawler belt 109 to be attached to the ground more tightly, so that the crawler belt 109 and the ground are prevented from slipping, and the tracked robot is more stable when moving forward.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A kind of foot-pedrail robot, characterized by: the device comprises a machine body, an information control processor, crawler wheels, a first driving motor, a second driving motor, a traveling device, a camera and a level meter; wherein the content of the first and second substances,
the camera, the level gauge and the information control processor are all arranged on the machine body, and the camera and the level gauge are all electrically connected with the information control processor;
the walking device and the crawler wheels are arranged on two sides of the machine body, a crawler belt is wound on the crawler wheels, the first driving motor is in transmission connection with the walking device, the second driving motor is in transmission connection with the crawler wheels, and the first driving motor and the second driving motor are both electrically connected with the information control processor; the walking device comprises mechanical legs and a transmission shaft, and the first driving motor is in transmission connection with the mechanical legs through the transmission shaft;
the walking device comprises six mechanical legs, each mechanical leg comprises a thigh, a shank and a first telescopic rod, one end of each thigh is arranged on the transmission shaft, the other end of each thigh is hinged with the shank, and two ends of each first telescopic rod are respectively hinged with the thigh and the shank; the mechanical leg further comprises a toe and a second telescopic rod, the toe is hinged to one end, far away from the thigh, of the lower leg, and two ends of the second telescopic rod are hinged to the toe and the lower leg respectively;
the toes are arranged in two groups, and the two groups of toes are respectively arranged on two sides of the end part of the shank in the advancing and retreating directions; the number of each group of toes is two, and the included angle between the two toes in the same group is more than 0 degree and less than 90 degrees;
the bottom of each toe is provided with a toe end sensor for detecting the road surface condition, and the toe end sensor is electrically connected with the information control processor;
the lateral wall of the machine body is rotatably provided with a plurality of supporting rollers, and the supporting rollers are tangent to the inner side surface of one side, close to the ground, of the crawler.
2. The tracked robot of claim 1, wherein: the crawler wheels comprise driving wheels, inducer wheels and bogie wheels, the driving wheels are in transmission connection with the second driving motor, the crawler belts are wound on the driving wheels and the bogie wheels, and the inducer wheels are tangent to the inner side surfaces of the crawler belts.
3. The tracked robot of claim 2, wherein: the driving wheel, the inducer and the bogie wheel are all rotatably arranged on the transmission shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910455500.7A CN110171502B (en) | 2019-05-29 | 2019-05-29 | Foot-tracked robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910455500.7A CN110171502B (en) | 2019-05-29 | 2019-05-29 | Foot-tracked robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110171502A CN110171502A (en) | 2019-08-27 |
| CN110171502B true CN110171502B (en) | 2021-10-29 |
Family
ID=67696039
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910455500.7A Active CN110171502B (en) | 2019-05-29 | 2019-05-29 | Foot-tracked robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110171502B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038612A (en) * | 2019-12-31 | 2020-04-21 | 浙江大学 | Multi-motion-mode wheel-track-leg combined robot |
| CN114475831B (en) * | 2022-01-24 | 2023-03-31 | 北京理工大学 | Foot-type multi-mode bionic robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015081013A1 (en) * | 2013-11-26 | 2015-06-04 | Elwha Llc | Structural assessment, maintenance, and repair apparatuses and methods |
| CN104773224A (en) * | 2015-04-27 | 2015-07-15 | 长春理工大学 | All-around multifunctional climbing robot |
| CN105216903A (en) * | 2015-10-09 | 2016-01-06 | 杭州南江机器人股份有限公司 | Legged mobile robot leg structure |
| CN106892011A (en) * | 2017-04-18 | 2017-06-27 | 山东大学 | The walking combined mobile robot of crawler belt leg |
| CN108725612A (en) * | 2018-07-18 | 2018-11-02 | 嘉兴学院 | A kind of multiple degrees of freedom multi-function robot |
| CN108974171A (en) * | 2018-06-15 | 2018-12-11 | 河池学院 | A kind of intelligence walking robot |
| CN208344376U (en) * | 2018-03-29 | 2019-01-08 | 哈尔滨理工大学 | A kind of legged type robot list leg device for mining area surface inspection |
-
2019
- 2019-05-29 CN CN201910455500.7A patent/CN110171502B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015081013A1 (en) * | 2013-11-26 | 2015-06-04 | Elwha Llc | Structural assessment, maintenance, and repair apparatuses and methods |
| CN104773224A (en) * | 2015-04-27 | 2015-07-15 | 长春理工大学 | All-around multifunctional climbing robot |
| CN105216903A (en) * | 2015-10-09 | 2016-01-06 | 杭州南江机器人股份有限公司 | Legged mobile robot leg structure |
| CN106892011A (en) * | 2017-04-18 | 2017-06-27 | 山东大学 | The walking combined mobile robot of crawler belt leg |
| CN208344376U (en) * | 2018-03-29 | 2019-01-08 | 哈尔滨理工大学 | A kind of legged type robot list leg device for mining area surface inspection |
| CN108974171A (en) * | 2018-06-15 | 2018-12-11 | 河池学院 | A kind of intelligence walking robot |
| CN108725612A (en) * | 2018-07-18 | 2018-11-02 | 嘉兴学院 | A kind of multiple degrees of freedom multi-function robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110171502A (en) | 2019-08-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10800221B2 (en) | System and method for traversing vertical obstacles | |
| US10967926B2 (en) | Obstacle traversing mobile robot | |
| CN110171502B (en) | Foot-tracked robot | |
| EP3508403A1 (en) | Multi-leg independent mobile carrier device | |
| JP2530139B2 (en) | Articulated vehicle | |
| US6774597B1 (en) | Apparatus for obstacle traversion | |
| CN103273985B (en) | Quadruped stair climbing robot mechanism | |
| CN102107688B (en) | Dual-leg travelling mechanism with adjustable joint length | |
| EP3345811A1 (en) | Walking mechanism and electric power-assisted vehicle and toy equipped with same | |
| JPS60255581A (en) | Travelling device | |
| CN106553712A (en) | A kind of deformable crawler unit | |
| CN205769684U (en) | A kind of full landform screw propulsion roller | |
| CN201395178Y (en) | Caterpillar belt span adjusting device | |
| CN208007139U (en) | A kind of flexible wheel foot switching mobile platform | |
| CN101758866A (en) | Composite wheel-tracked-bended leg obstacle crossing travelling system | |
| CN105539628A (en) | Wheeled leg type cockroach-shaped bio-robot | |
| CN202203599U (en) | Adaptive pipeline trolley | |
| CN108482031A (en) | A kind of railway intelligent multifunctional traveling platform | |
| CN201660033U (en) | Obstacle detouring walk system of one caterpillar and one bending leg of compound wheel | |
| CN106050265A (en) | Full-automatic hydraulic self-propelled caterpillar trestle | |
| CN205524557U (en) | Combination wheel actuating mechanism | |
| CN206690950U (en) | A kind of Construction of Civil Engineering tractor | |
| CN218058350U (en) | Lifting device | |
| Nakano et al. | Crank-wheel: A brand new mobile base for field robots | |
| CN101434269A (en) | Biped wheeled running mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |