CN111872915A - Obstacle-crossing exploration robot based on oscillating crawler wheel - Google Patents
Obstacle-crossing exploration robot based on oscillating crawler wheel Download PDFInfo
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- CN111872915A CN111872915A CN202010683411.0A CN202010683411A CN111872915A CN 111872915 A CN111872915 A CN 111872915A CN 202010683411 A CN202010683411 A CN 202010683411A CN 111872915 A CN111872915 A CN 111872915A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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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
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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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
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The invention discloses an obstacle crossing exploration robot based on a swing type crawler wheel, which comprises a rack, a walking device and a clamping device, wherein the clamping device is installed on the rack and used for clamping and sampling; according to the invention, the walking wheel assembly provides power for the robot in the walking process of the robot to drive the robot to walk, and the obstacle crossing assembly rotates along the walking direction of the robot to continuously change the height of the chassis of the robot, so that the adaptability of the robot to road conditions is greatly improved, the obstacle crossing capability of the robot is improved, the exploration efficiency is improved, and the manual labor intensity is effectively reduced.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an obstacle crossing exploration robot based on a swinging type crawler wheel.
Background
The topography road conditions are comparatively complicated usually under the exploration condition, and the relief is rugged and uneven, and traditional robot is difficult for passing through under this environment, is difficult to adapt to rugged road conditions, consequently needs artifical handheld device exploration usually to the geomorphology exploration of relief complicacy, and this exploration mode leads to the inefficiency extremely, and intensity of labour is big.
Therefore, an exploration robot applied to the rugged road condition is needed, and the exploration robot has stronger obstacle crossing capability and is suitable for the rugged road condition.
Disclosure of Invention
In view of this, the invention provides an obstacle crossing exploration robot based on a swing type track wheel, which has strong obstacle crossing capability and is suitable for rugged road conditions.
The invention relates to an obstacle crossing exploration robot based on a swing type crawler wheel, which comprises a rack, a walking device and a clamping device, wherein the clamping device is installed on the rack and used for clamping and sampling, the walking device comprises a walking wheel component, an obstacle crossing component and a power component, the walking wheel component, the obstacle crossing component and the power component are installed on the rack, the obstacle crossing component is provided with a driving end, the driving end of the obstacle crossing component is installed on the rack in a rotating fit mode so that the driving end can rotate around the driving end to cross an obstacle, and the power component is installed on the rack and used for driving the walking wheel component and the obstacle crossing component to operate so as to achieve obstacle crossing running of.
Further, the obstacle crossing assembly is provided with two groups of transverse two sides which are respectively arranged on the rack, the obstacle crossing assembly is arranged on the front side of the travelling wheel assembly, the obstacle crossing assembly comprises an obstacle crossing swing arm, a driving obstacle crossing belt wheel, a driven obstacle crossing belt wheel and an obstacle crossing crawler belt, the driving obstacle crossing belt wheel and the driven obstacle crossing belt wheel are fixedly arranged at two ends of the obstacle crossing swing arm respectively, and the obstacle crossing crawler belt is in transmission fit with the driving obstacle crossing belt wheel and the driven obstacle crossing belt wheel, and the driving obstacle crossing belt wheel is arranged on the rack in a rotating fit mode and can.
Further, the walking wheel assembly comprises a walking frame, three walking belt wheels arranged in a triangular mode and a walking crawler belt in transmission fit with the three walking belt wheels, the walking frame is installed on the rack in a running fit mode and can be driven by the power assembly to rotate, and at least one walking belt wheel is driven to rotate by the power assembly as a driving walking belt wheel.
Further, power component includes first driving piece and first transmission piece, first transmission piece includes drive sprocket, driven sprocket, with drive sprocket and driven sprocket transmission complex chain and driving pulley and drive belt, the driving of first driving piece drive hinders the band pulley and rotates more, drive sprocket hinders band pulley transmission cooperation more with the initiative, driven sprocket and driving pulley transmission cooperation, the drive belt cooperates with driving pulley and one of them walking band pulley transmission.
Furthermore, clamping device includes the arm and installs in the terminal centre gripping subassembly of arm, the arm can drive centre gripping subassembly conversion position, centre gripping subassembly includes two at least centre gripping arms and centre gripping drive assembly, centre gripping drive assembly drives each centre gripping arm and is close to each other or keep away from each other and form centre gripping or open mode.
Furthermore, the power assembly further comprises a second driving piece, and the second driving piece drives the walking frame to rotate.
Further, power component still includes third driving piece and third driving medium, the third driving medium include with walking frame normal running fit's pivot and overcoat in the pivot with pivot normal running fit's axle sleeve, driven sprocket and pivot transmission cooperation, driving pulley and pivot transmission cooperation, third driving piece drive pivot is rotated, axle sleeve and walking frame transmission cooperation, second driving piece drive axle sleeve rotates.
Further, the arm includes the folding arm that the swing arm that is connected by a plurality of orders constitutes and connects in the rotor arm of folding arm end, folding arm head normal running fit installs in the frame, a plurality of swing arm normal running fit and turned angle are adjustable, the rotor arm includes a plurality of steering wheel of order connection, the centre gripping subassembly is installed in the rotor arm end and can be rotated by a plurality of steering wheel drive.
Further, the frame is box-shaped structure, be provided with a plurality of intermediate layer along vertical in the frame, power component installs in the intermediate layer of below.
Furthermore, the clamping device also comprises a camera arranged at the tail end of the mechanical arm or on the clamping assembly.
The invention has the beneficial effects that:
according to the robot obstacle crossing structure, the walking wheel assembly provides power for the robot in the walking process of the robot to drive the robot to walk, the obstacle crossing assembly rotates along the walking direction of the robot, and when the driven end of the obstacle crossing assembly swings to the lower side, the head of the robot is supported to be convenient for climbing over obstacles, so that the adaptability of the robot to road conditions is greatly improved, the obstacle crossing capability of the robot is improved, the robot obstacle crossing structure is suitable for climbing, climbing steps and rugged road conditions, the exploration difficulty in complex road conditions is reduced, the exploration efficiency is improved, and the manual labor intensity is effectively reduced.
According to the invention, the obstacle crossing assembly and the walking frame can be driven to operate through the power assembly, the walking belt wheel in the walking wheel assembly can realize revolution, meanwhile, the power assembly drives the walking belt wheel to self-transmit and drives the walking crawler belt to rotate so as to drive the robot to walk, the walking wheel assembly of the structure can drive the robot in a self-transmitting and revolution mode, meanwhile, the walking crawler belt in triangular arrangement continuously changes the height of a chassis at the tail part of the robot during revolution, and the obstacle crossing assembly is combined to ensure good maneuvering performance of the robot and greatly improve the obstacle crossing capability of the robot.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a structure of the obstacle crossing assembly;
FIG. 3 is a schematic view of a structure of a clamping device;
FIG. 4 is a schematic view of a clamping assembly;
FIG. 5 is a schematic structural view of a road wheel assembly;
FIG. 6 is a schematic top view of the power assembly;
FIG. 7 is a perspective view of the power assembly;
FIG. 8 is a schematic cross-sectional view;
FIG. 9 is a schematic partial perspective view of a power assembly;
Detailed Description
FIG. 1 is a schematic view of the overall structure of the present invention; FIG. 2 is a schematic view of a structure of the obstacle crossing assembly; FIG. 3 is a schematic view of a structure of a clamping device; FIG. 4 is a schematic view of a clamping assembly; FIG. 5 is a schematic structural view of a road wheel assembly; FIG. 6 is a schematic top view of the power assembly; FIG. 7 is a perspective view of the power assembly; FIG. 8 is a schematic cross-sectional view; FIG. 9 is a schematic partial perspective view of a power assembly;
as shown in the figure: the obstacle crossing exploration robot based on the oscillating crawler wheels comprises a frame 10, a walking device and a clamping device 20, wherein the clamping device is installed on the frame and used for clamping and sampling, the walking device comprises a walking wheel assembly 30, an obstacle crossing assembly 40 and a power assembly 50, the walking wheel assembly is installed on the frame, the obstacle crossing assembly is provided with a driving end, the driving end of the obstacle crossing assembly is installed on the frame in a rotating fit mode so that the driving end can rotate around the driving end and further cross an obstacle, and the power assembly is installed on the frame and used for driving the walking wheel assembly and the obstacle crossing assembly to run so as to achieve obstacle crossing running of the robot. Obstacle crossing driving means that the robot can normally drive and has certain obstacle crossing capability; referring to fig. 1, the frame is similar to a cuboid structure, the obstacle crossing assembly is similar to a swing arm structure, the obstacle crossing assembly is mounted on two lateral sides of the frame and near the head, the walking wheel assembly is mounted on two lateral sides of the frame and near the tail, the clamping device can be a scissors type clamping structure or a horizontal translation type clamping structure, the walking wheel component provides power for the robot to drive the robot to walk in the walking process of the robot, the obstacle crossing component rotates forwards along the walking direction of the robot, when the driven end of the obstacle crossing component swings to the lower part, the head of the robot is supported to change the height of the chassis so as to be convenient for crossing the obstacle, the structure greatly improves the adaptability of the robot to road conditions, improves the obstacle crossing capability of the robot, is suitable for climbing, climbing steps and rugged road conditions, reduces the exploration difficulty in complex road conditions, improves the exploration efficiency and effectively reduces the manual labor intensity.
In this embodiment, the obstacle crossing assembly is provided with two sets of transverse two sides which are respectively arranged on the frame, the obstacle crossing assembly is arranged on the front side of the travelling wheel assembly 30, the obstacle crossing assembly comprises an obstacle crossing swing arm 41, a driving obstacle crossing belt wheel 42 and a driven obstacle crossing belt wheel 43 which are respectively and fixedly arranged at two ends of the obstacle crossing swing arm, and an obstacle crossing crawler belt 44 which is in transmission fit with the driving obstacle crossing belt wheel and the driven obstacle crossing belt wheel, and the driving obstacle crossing belt wheel is rotatably arranged on the frame in a matched manner and can be driven to rotate by the power assembly. The transverse direction is the width direction of the robot, the longitudinal direction is the length direction of the robot, the longitudinal direction is consistent with the walking direction of the robot, and the vertical direction is the height direction of the robot; the front side is one side which is longitudinally close to the head of the robot, and the obstacle crossing assembly is arranged at a position close to the head of the robot; as shown in fig. 1 and fig. 2, the obstacle crossing swing arm is a strip-shaped swing arm structure, a lightening hole is formed in the middle of the obstacle crossing swing arm to achieve lightweight design of the robot, a mounting hole is formed in the driving end of the obstacle crossing swing arm, the driving end of the obstacle crossing swing arm is fixedly connected with the driving obstacle crossing belt wheel through the mounting hole in a threaded manner, a kidney-shaped hole is formed in the driven end of the obstacle crossing swing arm in a circular array manner, the driven end of the obstacle crossing swing arm is fixedly connected with the driven obstacle crossing belt wheel 43 through the kidney-shaped hole in a threaded manner, the kidney-shaped hole is favorable for assembly of the driven obstacle crossing belt wheel and the driven end of the obstacle crossing swing arm, and transverse grooves are formed in the circumferential direction of the outer circles of the driving obstacle crossing belt wheel 42 and the driven obstacle crossing belt wheel 43 and improve the assembly effect; this structure is at the actual walking in-process, and the swing arm that hinders more rotates and drive driven band pulley 43 that hinders more and hinder the track rotation, and the chassis height through rotating continuous change robot and then improve the ability of hindering more, improves the ability of grabbing when the robot hinders more through crawler-type structure moreover, improves the mobility of robot.
In this embodiment, the walking wheel assembly includes walking frame 31, install and be three walking band pulley 32 of triangular arrangement and with three walking band pulley transmission complex walking track 33 on walking frame, walking frame normal running fit installs in the frame and can be rotated by power component drive, at least one walking band pulley is driven by power component as initiative walking band pulley and is rotated. As shown in fig. 5, the walking frame is composed of two triangular plates, the two triangular plates axially clamp the walking belt wheels, the three walking belt wheels are rotatably and cooperatively arranged between the two triangular plates, the three walking belt wheels are distributed at three corners of the triangular plates, and weight reduction grooves are formed in the triangular plates parallel to the triangular edges; the power assembly can drive the walking frame to rotate, the walking belt wheel is made to revolve at the moment, meanwhile, the power assembly drives the walking belt wheel to conduct self-transmission and drive the walking track to rotate so as to drive the robot to walk, the walking wheel assembly of the structure drives the robot in a self-transmission and revolution mode, and meanwhile, the walking track arranged in a triangular mode continuously changes the height of a chassis at the tail of the robot during revolution, so that the good maneuvering performance of the robot is guaranteed, and the obstacle crossing capability of the robot is greatly improved.
In this embodiment, the power assembly includes a first driving member 51 and a first driving member 52, the first driving member includes a driving sprocket 521, a driven sprocket 522, a chain 523 engaged with the driving sprocket and the driven sprocket, a driving pulley 524, and a driving belt 525, the first driving member drives the driving obstacle crossing pulley to rotate, the driving sprocket is engaged with the driving obstacle crossing pulley, the driven sprocket is engaged with the driving pulley 524, and the driving belt 525 is engaged with the driving pulley 524 and one of the traveling pulleys 32. Referring to fig. 6, the first driving member is a motor-matched dual-output reducer, the first driving member is mounted at a transverse middle position on the frame near the head, two output ends of the reducer are respectively in transmission fit with the driving obstacle crossing pulleys of the two obstacle crossing assemblies through an intermediate transmission shaft, a driving sprocket 521 is in transmission fit with the intermediate transmission shaft, the driving sprocket 521 synchronously transmits power of the first driving member to a driven sprocket 522 through a chain 523, and drives the driving sprocket 524 to rotate through the driven sprocket 522, and further transmits the power to one of the traveling pulleys 32 through a transmission belt 525, so that the traveling pulleys 32 rotate and drive a traveling crawler to rotate, wherein the driven sprocket 522 is disposed at a position near the tail of the frame, the driving sprocket 521 is disposed at a position near the head of the frame, the transmission length of the chain 523 is long, and therefore, a tensioning sprocket 526 is added, and the tensioning sprocket is engaged, wherein the tensioning chain wheel 526 can be vertically and slidably arranged on the side wall of the rack to adjust the tensioning force of the chain; according to the structure, power is synchronously transmitted to the walking wheel assembly 30 and the obstacle crossing assembly 40 through the first driving piece 51, the power source can drive the obstacle crossing assembly 40 to rotate to cross an obstacle, and can also drive the walking belt wheel 32 and the walking crawler 33 to rotate to realize power walking of the robot, so that the walking reliability of the robot is improved, and the walking and obstacle crossing capacity of the robot is effectively improved.
In this embodiment, the clamping device includes a robot arm 21 and a clamping assembly 22 mounted at the end of the robot arm, the robot arm can drive the clamping assembly to change the orientation, the clamping assembly includes at least two clamping arms 221 and a clamping driving assembly 222, and the clamping driving assembly drives the clamping arms to move close to or away from each other to form a clamping or opening state. The meaning of the mechanical arm conversion orientation is that the mechanical arm can drive the clamping assembly to move around an X, Y, Z axis or rotate around an X, Y, Z axis, the orientation conversion of the mechanical arm driving clamping assembly 22 is beneficial to adapting complex terrain sampling, as shown in fig. 4, the clamping assembly 22 has a U-shaped clamping base 223, a clamping driving assembly 222 is installed on the clamping base, the tail end of a clamping arm 221 is installed on the clamping base in a rotating and matching manner to form a scissors clamping structure, the clamping driving assembly 222 includes a clamping driving motor 2221, a clamping driving gear 2222 installed on the clamping base and two clamping driven gears 2223 engaged with each other, the clamping driving gear is engaged with one of the clamping driven gears, the two clamping driven gears are respectively in transmission matching with the tail ends of the two clamping arms, that is, when the clamping driven gears rotate, the clamping arms can be driven to swing to form a scissors-type clamping or, wherein the clamping arm 221 is composed of a clamping block 2211 for performing clamping action and a driving rod 2212 connected to the tail of the clamping block, the driving rod is rotatably matched with the clamping block, the included angle between the driving rod and the clamping block is adjustable, a rubber cushion layer is attached to the inner side of the clamping block, the clamping block can be connected with a driving motor to drive and rotatably adjust the included angle between the clamping block and the driving rod, in the embodiment, a mounting groove 2224 is formed in the clamping block, angle adjusting belt wheels are mounted in the mounting groove and on the clamping base and are in transmission fit through an angle adjusting belt 2225, wherein the angle adjusting belt wheels mounted on the clamping base are driven by an external device through a driving wheel, the angle adjusting belt wheels mounted on the clamping block are rotatably matched and mounted on the clamping block, the driving rod 2212 is provided with two driving wheels respectively and rotatably matched and mounted on two sides, the exploration efficiency is improved.
In this embodiment, the power assembly further includes a second driving member 53, and the second driving member 53 drives the walking frame 31 to rotate. As shown in fig. 6, 7 and 9, the second driving member 53 transmits power to the walking frame through the second pair of transmission gears 531, and during the operation, the robot is provided with power for walking forward through the rotation of the walking track and the rotation of the walking frame, and meanwhile, the rotation of the walking frame continuously changes the height of the chassis at the tail of the robot, so that the passing capability of the robot is improved, and the obstacle crossing capability is further improved.
In this embodiment, the power assembly further includes a third driving member 54 and a third transmission member 55, the third transmission member includes a rotating shaft 551 rotatably engaged with the traveling frame and a shaft sleeve 552 sleeved on the rotating shaft and rotatably engaged with the rotating shaft, the driven sprocket 522 is in driving engagement with the rotating shaft 551, the driving pulley 524 is in driving engagement with the rotating shaft 551, the third driving member drives the rotating shaft to rotate, the shaft sleeve is in driving engagement with the traveling frame, and the second driving member drives the shaft sleeve to rotate. The shaft sleeve or the rotating shaft is installed on the frame in a rotating fit manner through the bearing seat, as shown in fig. 9, the third driving member 54 transmits power to the rotating shaft through a third transmission gear pair 541, two gears in the third transmission gear pair 541 are engaged, one gear is in a transmission fit with the rotor of the third driving member 54, and the other gear is in a transmission fit with the rotating shaft; two gears in the second transmission gear pair 531 are engaged, one of the gears is in transmission fit with the rotor of the second driving part 53, the other gear is in transmission fit with the shaft sleeve 552, in the embodiment, the second driving part and the third driving part both adopt motors, a clamping sleeve is sleeved outside the shaft sleeve, the clamping sleeve is composed of two lantern rings 553 fixedly arranged on the shaft sleeve, and the two lantern rings are axially clamped on a triangular plate positioned on the inner side in the walking frame and are fixedly connected with the triangular plate; the first driving piece and the third driving piece are used for driving the rotating shaft to rotate and further used for driving the traveling belt wheel 32 to rotate, power can be provided only through the first driving piece under the condition of good road conditions, and the third driving piece can be opened to supplement power to improve the maneuvering performance of the robot under the condition of complex road conditions; in this embodiment, the power transmission from the three power sources to the traveling belt wheel 32 and the traveling frame is realized by the simple cooperation of the rotating shaft and the shaft sleeve, the structure is simple and compact, the spatial layout is facilitated, and the reliability and the stability are high.
In this embodiment, the arm includes the folding arm that the swing arm 211 that is connected by a plurality of orders constitutes and connects in the rotor arm at folding arm extreme, folding arm head normal running fit installs in the frame, a plurality of swing arm normal running fit and turned angle are adjustable, the rotor arm includes a plurality of steering wheel 212 of connecting in order, the centre gripping subassembly is installed in the rotor arm end and can be rotated by a plurality of steering wheel drive. As shown in fig. 3, the swing arms 211 are provided with two, each swing arm is driven to rotate by the cooperation of the motor and the worm gear reducer 2111, the motor is installed on the swing arm, the worm gear reducer is installed at the hinged position of the swing arm, the output end of the worm gear reducer drives the corresponding swing arm to rotate, the swing arm in the embodiment comprises three steering engines, the three steering engines are sequentially connected, the clamping assembly is installed at the tail end of the mechanical arm and respectively drives the rotation taking the X axis, the Y axis and the Z axis as the central axis through the three steering engines, the conversion of multiple degrees of freedom can be realized through the mechanical arm with the structure, the flexibility of the clamping assembly is improved, and the sampling operation adapting to complex terrains is.
In this embodiment, the rack 10 is a box-shaped structure, a plurality of interlayers 11 are vertically arranged in the rack, and the power assembly is installed in the interlayer at the bottom. A plurality of partition plates are horizontally additionally arranged in the rack to form interlayers, two interlayers are arranged in the embodiment, the walking wheel assembly 30 and the obstacle crossing assembly 40 are arranged on two side walls of the rack, the interlayer structure in the rack is favorable for improving the structural strength and rigidity of the whole robot frame, in addition, the interlayers are convenient to carry or install other equipment required by exploration, lightening holes are formed in the side walls of the rack, the walking frame and the obstacle crossing swing arm, and the first driving piece 51 is vertically arranged, so the first driving piece penetrates through the top of the rack to be exposed, and certainly, an installation cover can be arranged at the top of the rack to cover the first driving piece, and the descriptions are omitted;
in this embodiment, the clamping device further comprises a camera 23 mounted on the end of the robot arm 21 or on the clamping assembly 22. As shown in the combined figure 3, the camera transmits the acquired image to the upper computer controller in real time, so that the working personnel can observe the corresponding environment in real time and control the clamping assembly to clamp and sample in a corresponding mode.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. The utility model provides an obstacle crossing exploration robot based on oscillating athey wheel which characterized in that: the robot obstacle crossing device comprises a frame, a walking device and a clamping device, wherein the clamping device is installed on the frame and used for clamping and sampling, the walking device comprises a walking wheel component installed on the frame, an obstacle crossing component and a power component, the obstacle crossing component is provided with a driving end, the driving end of the obstacle crossing component is installed on the frame in a rotating fit mode so that a driven end can rotate around the driving end and further cross obstacles, and the power component is installed on the frame and used for driving the walking wheel component and the obstacle crossing component to run so as to achieve obstacle crossing running of the robot.
2. The oscillating track wheel-based obstacle crossing exploration robot of claim 1, wherein: the obstacle crossing assembly is provided with two groups of transverse two sides which are respectively arranged on the rack, the obstacle crossing assembly is arranged on the front side of the walking wheel assembly, the obstacle crossing assembly comprises an obstacle crossing swing arm, a driving obstacle crossing belt wheel, a driven obstacle crossing belt wheel and an obstacle crossing crawler belt, the driving obstacle crossing belt wheel and the driven obstacle crossing belt wheel are fixedly arranged at two ends of the obstacle crossing swing arm respectively, the obstacle crossing crawler belt is in transmission fit with the driving obstacle crossing belt wheel and the driven obstacle crossing belt wheel, and the driving obstacle crossing belt wheel is installed on the rack in a rotating fit mode and can.
3. The oscillating track wheel-based obstacle crossing exploration robot of claim 2, wherein: the walking wheel assembly comprises a walking frame, three walking belt wheels arranged in a triangular mode and a walking crawler belt in transmission fit with the three walking belt wheels, the walking frame is installed on the rack in a running fit mode and can be driven to rotate by the power assembly, and at least one walking belt wheel is driven to rotate by the power assembly as an active walking belt wheel.
4. The oscillating track wheel-based obstacle crossing exploration robot of claim 3, wherein: the power component comprises a first driving piece and a first driving piece, the first driving piece comprises a driving chain wheel, a driven chain wheel, a chain matched with the driving chain wheel and the driven chain wheel in a transmission mode, a driving transmission belt wheel and a transmission belt, the first driving piece drives the driving obstacle crossing belt wheel to rotate, the driving chain wheel is matched with the driving obstacle crossing belt wheel in a transmission mode, the driven chain wheel is matched with the driving transmission belt wheel in a transmission mode, and the transmission belt is matched with the driving transmission belt wheel and one of the traveling belt wheels in a transmission mode.
5. The oscillating track wheel-based obstacle crossing exploration robot of claim 1, wherein: the clamping device comprises a mechanical arm and a clamping assembly arranged at the tail end of the mechanical arm, the mechanical arm can drive the clamping assembly to convert the direction, the clamping assembly comprises at least two clamping arms and a clamping driving assembly, and the clamping driving assembly drives the clamping arms to be close to or far away from each other to form a clamping or opening state.
6. The oscillating track wheel-based obstacle crossing exploration robot of claim 4, wherein: the power assembly further comprises a second driving piece, and the second driving piece drives the walking frame to rotate.
7. The oscillating track wheel-based obstacle crossing exploration robot of claim 6, wherein: the power assembly further comprises a third driving piece and a third driving piece, the third driving piece comprises a rotating shaft in rotating fit with the walking frame and a shaft sleeve which is sleeved on the rotating shaft and in rotating fit with the rotating shaft, the driven sprocket is in driving fit with the rotating shaft, the driving transmission belt wheel is in driving fit with the rotating shaft, the third driving piece drives the rotating shaft to rotate, the shaft sleeve is in driving fit with the walking frame, and the second driving piece drives the shaft sleeve to rotate.
8. The oscillating track wheel-based obstacle crossing exploration robot of claim 5, wherein: the arm includes the folding arm that the swing arm that is connected by a plurality of orders constitutes and connects in the rotor arm at folding arm end, a plurality of swing arm normal running fit and turned angle are adjustable, the rotor arm is including a plurality of steering wheel of order connection, centre gripping subassembly is installed in the rotor arm end and can be rotated by a plurality of steering wheel drive.
9. The oscillating track wheel-based obstacle crossing exploration robot of claim 1, wherein: the frame is box-shaped structure, be provided with a plurality of intermediate layer along vertical in the frame, power component installs in the intermediate layer of below.
10. The oscillating track wheel-based obstacle crossing exploration robot of claim 5, wherein: the clamping device further comprises a camera arranged at the tail end of the mechanical arm or on the clamping assembly.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010683411.0A CN111872915A (en) | 2020-07-14 | 2020-07-14 | Obstacle-crossing exploration robot based on oscillating crawler wheel |
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| CN202010683411.0A CN111872915A (en) | 2020-07-14 | 2020-07-14 | Obstacle-crossing exploration robot based on oscillating crawler wheel |
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| CN202010683411.0A Pending CN111872915A (en) | 2020-07-14 | 2020-07-14 | Obstacle-crossing exploration robot based on oscillating crawler wheel |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113400924A (en) * | 2021-05-14 | 2021-09-17 | 重庆大学 | Deformable crawler-type reconfigurable composite chassis for robot |
| CN114485401A (en) * | 2022-01-21 | 2022-05-13 | 重庆交通大学工程设计研究院有限公司 | Movable three-dimensional laser scanner |
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Application publication date: 20201103 |