CN110304141A - A kind of full ground anthropomorphic robot - Google Patents
A kind of full ground anthropomorphic robot Download PDFInfo
- Publication number
- CN110304141A CN110304141A CN201910243145.7A CN201910243145A CN110304141A CN 110304141 A CN110304141 A CN 110304141A CN 201910243145 A CN201910243145 A CN 201910243145A CN 110304141 A CN110304141 A CN 110304141A
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- Prior art keywords
- wheel
- anthropomorphic robot
- steering engine
- full ground
- robot
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- 230000009194 climbing Effects 0.000 claims abstract description 5
- 238000005183 dynamical system Methods 0.000 claims abstract description 4
- 239000000725 suspension Substances 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 241000124033 Salix Species 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 231100001261 hazardous Toxicity 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 229920000742 Cotton Polymers 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004297 night vision Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/24—Endless track steering specially adapted for vehicles having both steerable wheels and endless track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of full ground anthropomorphic robots, including robot body, driving device, control device and lifting apparatus, and the driving device is the dynamical system of the robot body, for driving robot body；The control device control robot body completes the movement for turning to, climbing；The lifting apparatus realizes that robot body completes the movement of obstacle detouring；The driving device includes the first steering engine, the first fixed bracket, crawler belt and wheel；The control device includes black mark sensor, touch sensor and Whisker Sensor；The lifting apparatus includes the second steering engine and the second fixed bracket.The present invention solves the problems, such as the operation in hazardous environment, complex environment and narrow space, has achieved the purpose that improve efficiency, has guaranteed safety and save human resources.
Description
Technical field
The present invention relates to mechanical robot's technical fields, more particularly to a kind of full ground anthropomorphic robot.
Background technique
Since full ground anthropomorphic robot is led in military affairs, space probation, rescue and relief work, modern service, field scientific investigation operation etc.
There is unique advantage in domain, and in recent years, the research of full ground anthropomorphic robot is increasingly paid attention to both at home and abroad.
All-terrain moving robot is at present mainly by several problems below: first is that movement speed is lower；Second is that adapting to multiple
Miscellaneous landform it is indifferent；Third is that the ability of perception environment is limited, for example limited in night vision system；Fourth is that actively controlling
Robot obstacle detouring processed is made preferable but efficiency is very low, and passive adaptation landform obstacle detouring mode adaptive capacity to environment is limited, but efficiency is very
Height, equalization point between the two are difficult to grasp, therefore need to design a kind of full ground anthropomorphic robot and protecting to break through existing predicament
Realization turning function, climbing function and obstacle crossing function on the basis of demonstrate,proving safety, saving human resources, this full ground anthropomorphic robot
It is particularly suitable for the fields such as the current military affairs in China, space probation, rescue and relief work, modern service, field scientific investigation operation.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, a kind of full ground anthropomorphic robot is provided, is had
Effect solves the problems, such as the operation in hazardous environment, complex environment and narrow space, reaches and improves efficiency, guarantees safety and save people
The purpose of power resource.
In order to solve the above technical problems, present invention provide the technical scheme that a kind of full ground anthropomorphic robot, including robot
Ontology, driving device, control device and lifting apparatus, the driving device are the dynamical system of the robot body, are used for
Drive robot body；The control device control robot body completes the movement for turning to, climbing；The lifting apparatus is realized
The movement of robot body completion obstacle detouring；
The robot body includes chassis, suspended portion and counterweight part；
The driving device includes the first steering engine, the first fixed bracket, crawler belt and wheel；
The control device includes black mark sensor, touch sensor and Whisker Sensor；
The lifting apparatus includes the second steering engine and the second fixed bracket.
As a further improvement of the present invention, the chassis uses plate armature, uniformly opens up on the chassis logical
Hole reduces the weight on chassis.The long side on the chassis opens up 11 through-holes, and short side opens up 7 holes, between adjacent two through hole between
Away from the wall thickness for chassis.
As a further improvement of the present invention, the suspended portion includes front walking wheel, u-bracket, rubber connecting strip, biped
Strut, suspension chassis and output bracket, the front walking wheel are connected by the output bracket with the biped strut, the U
Type bracket is fixed on the chassis, and the suspension chassis is connected with the rubber connecting strip, and the lifting apparatus passes over
Power power is transferred to by suspension chassis and output bracket by biped strut.
As a further improvement of the present invention, the wheel includes middle traveling wheel and rear walking wheel, and first steering engine drives
The wheel movement is moved, the crawler belt connects the middle traveling wheel and rear walking wheel.
As a further improvement of the present invention, first steering engine and wheel are respectively equipped with six, each first steering engine point
Not Qu Dong a wheel, the wheel connect by transmission shaft with first steering engine, and the difference turn of first steering engine is passed through
Speed realizes the differential steering of the full ground anthropomorphic robot.
As a further improvement of the present invention, Turbogrid plates crossed in the full ground anthropomorphic robot, speeling stairway, walk single-plank bridge
When, the front walking wheel, middle traveling wheel and rear walking wheel are Athey wheel, reinforce row's rivet in the outer surface of the crawler belt and provide
Anti-skidding guarantee, when the full ground anthropomorphic robot in the duct when driving, the crawler belt is wrapped with cotton, improves passability.
As a further improvement of the present invention, the black mark sensor includes the first fixation hole and black mark sensor element,
The touch sensor includes the second fixation hole and touching switch, the Whisker Sensor by third fixation hole and spring antenna,
The black mark sensor is used for basic tracking, the Whisker Sensor for detecting obstacle, the black mark sensor install close to
Ground and parallel to the ground, the spring antenna installation parallel to the ground of the Whisker Sensor.
As a further improvement of the present invention, the described first fixed bracket is made of U-shaped metal plate, the described first fixed branch
The side that frame installs first steering engine is equipped with rectangular channel.
Due to the application of the above technical scheme, compared with the prior art, the invention has the following advantages:
Full ground anthropomorphic robot of the invention can realize differential steering by the different rotating speeds of wheel, and then realize and turn to energy
Power；Anti-skidding guarantee is provided by reinforcing row's rivet in the outer surface of crawler belt, realizes the climbing capacity of full ground anthropomorphic robot；It is lifting
Under the driving for rising device, it is sequentially completed the lifting of biped strut, the lifting of suspension chassis, front walking wheel lifting, and then realize obstacle detouring energy
Power；Six wheels are respectively driven by six the first steering engines, improve the adaptation of the forward speed, complicated landform of full ground anthropomorphic robot
Ability and power reserve；The sensing capability to environment is realized by black mark sensor, Whisker Sensor and touch sensor；Have
Human resources are saved, guarantee the advantages that safe.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of robot body of the invention；
Fig. 3 is the structural schematic diagram of inventive drive means；
Fig. 4 is the structural schematic diagram of control device of the invention；
Fig. 5 is the structural schematic diagram of lifting apparatus of the invention.
Wherein, 100, robot body；110, chassis；120, suspended portion；130, counterweight part；121, front walking wheel；122,U
Type bracket；123, rubber connecting strip；124, biped strut；125, suspension chassis；126, output bracket；200, driving device；
210, the first steering engine；220, the first fixed bracket；230, crawler belt；240, wheel；231, rivet；241, middle traveling wheel；242, after
Traveling wheel；243, transmission shaft；300, control device；310, black mark sensor；320, touch sensor；330, Whisker Sensor；
311, the first fixation hole；312, black mark sensor element；321, the second fixation hole；322, touching switch；331, third fixation hole；
332, spring antenna；400, lifting apparatus；410, the second steering engine；420, the second fixed bracket.
Specific embodiment
In order that the present invention can be more clearly and readily understood, right below according to specific embodiment and in conjunction with attached drawing
The present invention is described in further detail.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only (present invention) a part of the embodiment of the invention, rather than whole realities
Apply example.
It should be noted that in the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or two with
On；The orientation of the instructions such as term " on ", "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion "
Or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, and
It is not that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore
It is not considered as limiting the invention.
In addition, term " first ", " second ", " third " etc. are used for description purposes only, it is not understood to indicate or imply
Relative importance.
Meanwhile in the description of the present invention unless specifically defined or limited otherwise, term " connected ", " connection " should be done
It broadly understood, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be mechanical connection,
It is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For the common skill of this field
For art personnel, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As shown in Figures 1 to 4, the present invention provides a kind of full ground anthropomorphic robots, including robot body 100, driving dress
Set 200, control device 300, lifting apparatus 400.
Robot body 100 is full ground anthropomorphic robot overall structure, including chassis 110, suspended portion 120, counterweight part 130.
Driving device 200 is the dynamical system of full ground anthropomorphic robot, for driving full ground anthropomorphic robot, including the first steering engine
210, the first fixed bracket 220, crawler belt 230, wheel 240.
Control device 300 is the control system of full ground anthropomorphic robot, controls full ground anthropomorphic robot and completes to turn to, climb and get over
The technical movements of barrier, including black mark sensor 310, touch sensor 320, Whisker Sensor 330.
Lifting apparatus 400 is the lifting system of full ground anthropomorphic robot, for being lifted full ground anthropomorphic robot and then completing obstacle detouring
Function, including the fixed bracket 420 of the second steering engine 410, second.
As shown in Fig. 2, the chassis 110 uses plate armature, the suspended portion 120 includes front walking wheel 121, U-shaped
Bracket 122, rubber connecting strip 123, biped strut 124, suspension chassis 125, output bracket 126, the front walking wheel 121 pass through
The output bracket 126 is connected with the biped strut 124, and the u-bracket 122 is mounted on the chassis 110, described
Suspension chassis 125 is connected with the rubber connecting strip 123.Through-hole is uniformly opened up on the chassis 110, reduces chassis 110
Weight.The long side on the chassis 110 opens up 11 through-holes, and short side opens up 7 holes, and the spacing between adjacent two through hole is chassis
110 wall thickness.
As shown in figure 3, the driving device 200 includes the first steering engine 210, first fixed bracket 220, crawler belt 230, wheel
240, the wheel 240 includes middle traveling wheel 241 and rear walking wheel 242, and first steering engine 210 drives the wheel 240, institute
It states crawler belt 230 and connects the middle traveling wheel 241 and rear walking wheel 242.First steering engine is standard circumference steering engine.
As shown in figure 4, the black mark sensor 310 is made of the first fixation hole 311 and black mark sensor element 312, institute
It states touch sensor 320 to be made of the second fixation hole 321 and touching switch 322, the Whisker Sensor 330 is by third fixation hole
331 and spring antenna 332 form.The installation ground proximity of the black mark sensor 310 and parallel to the ground, the antenna sensing
The installation parallel to the ground of spring antenna 332 of device.
As shown in figure 5, second steering engine 410 uses a 180 degree Servo-controller, it is lifted suspended portion 120, described the
Two steering engines 410 are fixed on the second fixed bracket 420.
Specifically, the front walking wheel 121, middle traveling wheel 241 and rear walking wheel 242 use rivet Athey wheel, by
The outer surface of crawler belt reinforces row's rivet 231, provides anti-skidding guarantee, when the complete ground anthropomorphic robot in the duct when driving, general
The crawler belt is wrapped with cotton, improves passability.
Specifically, respectively driving six wheels 240 there are six first week steering engine 210 is total.Described first fixed bracket
220 use U-shaped sheet metal designing, output rectangular channel in the side for installing first steering engine 210.The wheel 240 passes through biography
Moving axis 243 is connect one by one with first steering engine 210.
When full ground anthropomorphic robot works, there are five types of corresponding landform respectively:
1, when full ground anthropomorphic robot passes through grid landform, first steering engine 210 drives the wheel 240 to rotate, into
And the rotation of the crawler belt 230 is driven, when full ground anthropomorphic robot card wheel in grid, reinforce outside the crawler belt 230
Rivet 231 on surface provides road holding；It is independent when vehicle body disequilibrium when the full ground anthropomorphic robot is because of pot hole
The front walking wheel 121 of suspension is that full ground anthropomorphic robot guarantees balance.
2, when full ground, anthropomorphic robot passes through deceleration strip, higher road clearance on the chassis 110 and the wheel 240
Guarantee that full ground anthropomorphic robot is not in hanging phenomenon when passing through deceleration strip compared with short wheelbase.
3, when full ground, anthropomorphic robot passes through step, second steering engine 410 drives the described second fixed bracket 420 to drive
The biped strut 124 drives the suspension chassis 125 and then is lifted front walking wheel 121, by being lifted the front walking wheel
121 realize that full ground anthropomorphic robot climbs function.
4, when full ground, anthropomorphic robot passes through stone, 6 of full ground anthropomorphic robot be connected respectively with wheel 240 first
Steering engine 210 provides vehicle body stability for full ground anthropomorphic robot.
5, when full ground anthropomorphic robot passes through tunnel landform, the Whisker Sensor 330 touches wall and generates control signal,
First steering engine 210 adjusts inside and outside wheel speed, realizes the differential steering of full ground anthropomorphic robot；The crawler belt 230 is passing through tunnel
Cotton is wrapped with when road to increase road holding.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (8)
1. a kind of full ground anthropomorphic robot, it is characterised in that: including robot body, driving device, control device and lifting apparatus,
The driving device is the dynamical system of the robot body, for driving robot body；The control device controls machine
Device human body completes the movement for turning to, climbing；The lifting apparatus realizes that robot body completes the movement of obstacle detouring；
The robot body includes chassis, suspended portion and counterweight part；
The driving device includes the first steering engine, the first fixed bracket, crawler belt and wheel；
The control device includes black mark sensor, touch sensor and Whisker Sensor；
The lifting apparatus includes the second steering engine and the second fixed bracket.
2. one kind full ground according to claim 1 anthropomorphic robot, it is characterised in that: the chassis uses plate armature,
Through-hole is uniformly opened up on the chassis.
3. one kind full ground according to claim 2 anthropomorphic robot, it is characterised in that: the suspended portion includes front walking wheel, U
Type bracket, rubber connecting strip, biped strut, suspension chassis and output bracket, the front walking wheel by the output bracket with
The biped strut is connected, and the u-bracket is fixed on the chassis, the suspension chassis and the rubber connecting strip phase
Even, power is transferred to suspension chassis and output bracket by biped strut by the power that the lifting apparatus passes over.
4. one kind full ground according to claim 1 anthropomorphic robot, it is characterised in that: the wheel includes middle traveling wheel with after
Traveling wheel, wheel movement described in first servo driving, the crawler belt connect the middle traveling wheel and rear walking wheel.
5. one kind full ground according to claim 4 anthropomorphic robot, it is characterised in that: first steering engine and wheel are set respectively
There are six, each first steering engine respectively drives a wheel, and the wheel is connect with first steering engine by transmission shaft, passed through
The different rotating speeds of first steering engine realize the differential steering of the full ground anthropomorphic robot.
6. one kind full ground anthropomorphic robot according to claim 4, it is characterised in that: the front walking wheel, middle traveling wheel and
Rear walking wheel is Athey wheel, reinforces a row willow in the outer surface of the crawler belt.
7. one kind full ground according to claim 1 anthropomorphic robot, it is characterised in that: the black mark sensor includes first solid
Determine hole and black mark sensor element, the touch sensor includes the second fixation hole and touching switch, the Whisker Sensor by
Third fixation hole and spring antenna, the black mark sensor are used for basic tracking, and the Whisker Sensor is for detecting obstacle, institute
State black mark sensor installation ground proximity and parallel to the ground, the spring antenna installation parallel to the ground of the Whisker Sensor.
8. one kind full ground according to claim 1 anthropomorphic robot, it is characterised in that: the described first fixed bracket is using U-shaped
Metal plate is made, and the side that the described first fixed bracket installs first steering engine is equipped with rectangular channel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910243145.7A CN110304141A (en) | 2019-03-28 | 2019-03-28 | A kind of full ground anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910243145.7A CN110304141A (en) | 2019-03-28 | 2019-03-28 | A kind of full ground anthropomorphic robot |
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| Publication Number | Publication Date |
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| CN110304141A true CN110304141A (en) | 2019-10-08 |
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ID=68074387
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910243145.7A Pending CN110304141A (en) | 2019-03-28 | 2019-03-28 | A kind of full ground anthropomorphic robot |
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| CN (1) | CN110304141A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111319693A (en) * | 2020-03-22 | 2020-06-23 | 西北工业大学 | Complex terrain rescue and survey robot |
| CN116001938A (en) * | 2022-12-28 | 2023-04-25 | 北京理工大学 | Crawler-type double-rotor wall climbing robot |
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| JP2014019210A (en) * | 2012-07-13 | 2014-02-03 | National Institute Of Advanced Industrial & Technology | Crawler traveling type searching robot |
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| CN207274800U (en) * | 2017-09-06 | 2018-04-27 | 钦州学院 | The full landform robot running gear of double-crawler type |
| CN108556938A (en) * | 2018-06-27 | 2018-09-21 | 北京航空航天大学 | Full ground anthropomorphic robot |
| CN210101751U (en) * | 2019-03-28 | 2020-02-21 | 常州机电职业技术学院 | All-terrain robot |
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| CN202716954U (en) * | 2012-04-09 | 2013-02-06 | 西北农林科技大学 | All-terrain hybrid chassis |
| JP2014019210A (en) * | 2012-07-13 | 2014-02-03 | National Institute Of Advanced Industrial & Technology | Crawler traveling type searching robot |
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