CN112977662A - Polymorphic all-terrain search and rescue robot - Google Patents
Polymorphic all-terrain search and rescue robot Download PDFInfo
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- CN112977662A CN112977662A CN202110367422.2A CN202110367422A CN112977662A CN 112977662 A CN112977662 A CN 112977662A CN 202110367422 A CN202110367422 A CN 202110367422A CN 112977662 A CN112977662 A CN 112977662A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- 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
- B62D57/028—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 having wheels and mechanical legs
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Abstract
The invention relates to the technical field of robots, in particular to a polymorphic all-terrain search and rescue robot which comprises a robot body, wherein the robot body is of a bilaterally symmetrical structure and comprises a rack main body, a first joint assembly, a crawler belt transmission assembly, a second joint assembly, a leg wheel assembly and a Y-shaped support, wherein the first joint assembly, the crawler belt transmission assembly, the second joint assembly, the leg wheel assembly and the Y-shaped support are arranged on the left side and the right side of the rack main body; the crawler belt transmission assembly is connected with the rack main body through the first joint assembly, the forked end of the Y-shaped support is connected with the crawler belt transmission assembly through the second joint assembly, and the other end of the Y-shaped support is connected with the leg wheel assembly. According to the invention, the first joint component, the crawler belt transmission component, the second joint component, the leg wheel component and the Y-shaped support are mutually matched, so that the robot has a crawler belt walking form, a roller wheel walking form and a leg walking form, and the walking form of the robot can be changed by each motor according to different terrains so as to achieve the optimal motion performance under different terrains.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a polymorphic all-terrain search and rescue robot.
Background
In the search and rescue process, aiming at various complex terrains such as flat ground, uneven ground, rugged and steep ground and the like, due to the urgency of search and rescue work, how to enable the robot to move with the best efficiency on different terrains and pavements is an important index for examining the comprehensive passing performance of the search and rescue robot and is one of necessary capabilities.
At present, many manufacturers and scientific research institutions at home and abroad carry out a great deal of experimental research on search and rescue robots, most of the search and rescue robots are still in single structural forms such as crawler-type or wheel-type structures, although the obstacle surmounting capability of improved crawler-type robots in the prior art is well enhanced, the improved crawler-type robots are limited by self mechanical structures, the motion performance of the improved crawler-type robots on flat ground is not as good as that of wheel-type robots, and the improved crawler-type robots cannot well pass through very steep mountain crawler-type robots.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a polymorphic all-terrain search and rescue robot which has three typical motion modes, namely crawler travel, roller travel, leg travel and the like, can adapt to various terrains and can play a better motion performance on various terrains.
In order to achieve the purpose, the invention adopts the following technical scheme:
a polymorphic all-terrain search and rescue robot comprises a robot body, wherein the robot body is of a bilaterally symmetrical structure and comprises a rack main body, and a first joint assembly, a crawler transmission assembly, a second joint assembly, a leg wheel assembly and a Y-shaped support which are arranged on the left side and the right side of the rack main body;
the top end of the frame main body is fixedly connected with a flange plate, and the tops of the left side and the right side of the frame main body are respectively and fixedly connected with an electromagnet assembly;
the crawler belt transmission assembly is connected with the rack main body through a first joint assembly, the forked end of the Y-shaped support is connected with the crawler belt transmission assembly through a second joint assembly, and the other end of the Y-shaped support is connected with the leg wheel assembly.
According to the robot, the first joint assembly, the crawler transmission assembly, the second joint assembly, the leg wheel assembly and the Y-shaped support are mutually matched, so that the robot has a crawler walking form, a roller walking form and a leg walking form, and the walking form of the robot can be changed through various motors according to different terrains to achieve the optimal motion performance under different terrains.
Preferably, the first joint assembly comprises a first motor, a first rolling bearing, a first retainer ring, a first driven crawler wheel, a second rolling bearing, a second driven crawler wheel, a gasket, a first nut, a first sleeve, a crawler support, a first flat key and a third rolling bearing;
the first motor is fixedly arranged on the rack main body, a shaft of the first motor is connected with the rack main body through a first rolling bearing, a first sleeve is sleeved at the front end of the shaft of the first motor, a first nut is arranged at the front end of the first sleeve, the first driven crawler wheel is connected with the first sleeve through a second rolling bearing, and the second driven crawler wheel is connected with the shaft of the first motor through a third rolling bearing; the first nut and the second rolling bearing are tightly provided with a gasket, the left side and the right side of the third rolling bearing are respectively provided with a first retainer ring, and a shaft of the first motor is connected with the track support through a first flat key.
Preferably, the track transmission assembly comprises a second motor, a driving crawler wheel, a taper pin, a fourth rolling bearing, a supporting wheel shaft, a supporting belt wheel shaft and a track;
the second motor is fixedly arranged on the Y-shaped support, a shaft of the second motor is connected with the Y-shaped support through a fourth rolling bearing, the driving crawler wheel is connected with the shaft of the second motor through a taper pin, the supporting wheel is connected with the crawler support through a supporting wheel shaft, the crawler is pulled to move by the driving crawler wheel, and guard plates are arranged on two sides of the crawler.
Preferably, the second joint component comprises a third motor, a first gear, a second sleeve, a third sleeve, a second flat key, a third flat key, a second retainer ring, a fifth rolling bearing, an optical axis, a sixth rolling bearing and a third driven crawler wheel;
the third motor is fixedly installed on the crawler support, a shaft of the third motor is connected with the first gear through a second flat key, the first gear is meshed with the second gear, a second sleeve is arranged between the second gear and the crawler support, a third sleeve is arranged between the second gear and a third driven crawler wheel, the third driven crawler wheel is connected with the optical axis through a fifth rolling bearing, the optical axis is connected with the second gear through the third flat key, one end of the optical axis is connected with the crawler support through a sixth rolling bearing, and the other end of the optical axis is connected with the Y-shaped support.
Preferably, the leg wheel assembly comprises a fourth motor, a push rod motor, a seventh rolling bearing, a third retainer ring, a leg wheel, a wheel cover, a push disc, a connecting rod, a telescopic block, a connecting rod small shaft, a fourth flat key and a second nut;
the fourth motor is fixedly installed on the Y-shaped support, one end of a shaft of the fourth motor is connected with the Y-shaped support through a seventh rolling bearing, the other end of the shaft of the fourth motor is connected with a second nut, the shaft of the fourth motor is connected with the leg wheel through a fourth flat key, a third check ring is arranged at the joint of the end face of the leg wheel and the shaft of the fourth motor, the wheel cover is connected with the leg wheel through a screw, the push rod motor is fixedly installed on the wheel cover, the shaft of the push rod motor is connected with the push disk, the push disk is connected with the telescopic block through a connecting rod, the connecting rod is connected with the push disk through a connecting rod small shaft, and the telescopic block is arranged between the wheel cover and the leg wheel.
The invention can also meet the requirements of different search and rescue works by additionally arranging various mechanical arms or life detection devices on the flange plate of the frame main body.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, through the mutual matching motion among the first motor of the first joint component, the second motor of the crawler transmission component, the third motor of the second joint component, the fourth motor of the leg wheel component and the push rod motor, the search and rescue robot can present a crawler walking state, a roller walking state and a leg walking state, so that the optimal motion performance under different terrains is achieved, and the requirements of complex search and rescue scenes are met.
2. When the environment is a flat terrain, the robot is converted into a roller walking form, and the characteristics of wheel type motion are exerted; when the environment is a concave and uneven terrain, the robot is converted into a crawler walking form, and the characteristic of crawler movement is exerted; when the environment is rugged and steep terrain, the robot is converted into a leg type walking state, and the characteristic of foot type movement is exerted.
Drawings
FIG. 1 is a schematic structural view of a crawler track configuration according to the present invention;
FIG. 2 is a schematic view of the roller walking configuration according to the present invention;
FIG. 3 is a schematic structural view of a leg walking configuration according to the present invention;
FIG. 4 is an enlarged view of portion A of FIG. 3;
FIG. 5 is a partial view of FIG. 4;
FIG. 6 is an enlarged view of portion B of FIG. 3;
FIG. 7 is a partial view of FIG. 6;
FIG. 8 is an enlarged view of the portion C of FIG. 3;
FIG. 9 is a partial view of FIG. 8;
FIG. 10 is a front view of the track drive assembly of the present invention;
FIG. 11 is a rear elevational view of the track drive assembly of the present invention;
fig. 12 is a schematic structural view of the present invention with a robot attached.
In the figure: 1-a frame main body, 110-a flange plate, 120-an electromagnet assembly, 20-a first joint assembly, 201-a first motor, 202-a first rolling bearing, 203-a first retainer ring, 204-a first driven crawler wheel, 205-a second rolling bearing, 206-a second driven crawler wheel, 207-a gasket, 208-a first nut, 209-a first sleeve, 210-a crawler support, 211-a first flat key, 212-a third rolling bearing, 30-a crawler transmission assembly, 301-a second motor, 302-a driving crawler wheel, 303-a conical pin, 304-a fourth rolling bearing, 305-a supporting wheel, 306-a supporting wheel shaft, 307-a supporting wheel shaft, 308-a supporting wheel shaft, 309-a crawler, 310-a guard plate, 40-a second joint assembly, 401-third motor, 402-first gear, 403-second gear, 404-second sleeve, 405-third sleeve, 406-second flat key, 407-third flat key, 408-second retainer ring, 409-fifth rolling bearing, 410-optical axis, 411-sixth rolling bearing, 412-third driven crawler wheel, 50-leg wheel assembly, 501-fourth motor, 502-push rod motor, 503-seventh rolling bearing, 504-third retainer ring, 505-leg wheel, 506-wheel cover, 507-push disk, 508-connecting rod, 509-telescopic block, 510-connecting rod small shaft, 511-fourth flat key, 512-second nut and 60-Y-shaped bracket.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, so that those skilled in the art can better understand the advantages and features of the present invention, and thus the scope of the present invention is more clearly defined. The embodiments described herein are only a few embodiments of the present invention, rather than all embodiments, and all other embodiments that can be derived by one of ordinary skill in the art without inventive faculty based on the embodiments described herein are intended to fall within the scope of the present invention.
Referring to fig. 1, the polymorphic all-terrain search and rescue robot comprises a robot body, wherein the robot body is of a bilaterally symmetrical structure and comprises a rack main body 10, and a first joint assembly 20, a crawler transmission assembly 30, a second joint assembly 40, a leg wheel assembly 50 and a Y-shaped bracket 60 which are arranged on the left side and the right side of the rack main body 10;
the top end of the frame main body 10 is fixedly connected with a flange plate 110, and the tops of the left side and the right side of the frame main body 10 are respectively and fixedly connected with an electromagnet assembly 120;
the track driving assembly 30 is connected to the frame body 10 through the first joint assembly 20, the bifurcated end of the Y-shaped bracket 60 is connected to the track driving assembly 30 through the second joint assembly 40, and the other end of the Y-shaped bracket 60 is connected to the leg wheel assembly 50.
In the embodiment, the first joint assembly 20, the track transmission assembly 30, the second joint assembly 40, the leg wheel assembly 50 and the Y-shaped bracket 60 cooperate with each other, so that the robot has a track walking configuration, a roller walking configuration and a leg walking configuration, and the walking configuration of the robot can be changed by each motor according to different terrains to achieve the optimal motion performance under different terrains.
Referring to fig. 2, 4 and 5, in particular, the first joint assembly 20 includes a first motor 201, a first rolling bearing 202, a first retainer ring 203, a first driven sheave 204, a second rolling bearing 205, a second driven sheave 206, a washer 207, a first nut 208, a first sleeve 209, a track frame 210, a first flat key 211 and a third rolling bearing 212.
The first motor 201 is fixedly mounted on the rack main body 10, a shaft of the first motor 201 is connected with the rack main body 10 through a first rolling bearing 202, a first sleeve 209 is sleeved on the front end portion of the shaft of the first motor 201, a first nut 208 is arranged at the front end of the first sleeve 209, the first driven crawler wheel 204 is connected with the first sleeve 209 through a second rolling bearing 205, and the second driven crawler wheel 206 is connected with the shaft of the first motor 201 through a third rolling bearing 212; a washer 207 is tightly arranged between the first nut 208 and the second rolling bearing 205, first retainer rings 203 are respectively arranged on the left side and the right side of the third rolling bearing 212, and the shaft of the first motor 201 is connected with a track support 210 through a first flat key 211.
Referring to fig. 1, 10 and 11, in particular, the track drive assembly 30 includes a second motor 301, a driving track wheel 302, a taper pin 303, a fourth rolling bearing 304, a support wheel 305, a support wheel shaft 306, a idler wheel 307, an idler wheel shaft 308 and a track 309.
The second motor 301 is fixedly mounted on the Y-shaped bracket 60, a shaft of the second motor 301 is connected with the Y-shaped bracket 60 through a fourth rolling bearing 304, the driving crawler wheel 302 is connected with the shaft of the second motor 301 through a taper pin 303, the supporting wheel 305 is connected with the track bracket 210 through a supporting wheel shaft 306, the idler wheel 307 is connected with the track bracket 210 through an idler wheel shaft 308, the track 309 is dragged to move by the driving crawler wheel 302, and the track 309 is supported by the supporting wheel 305 and the idler wheel 307 together; guard plates 310 are mounted on either side of the track 309 to protect the track drive assembly 30.
Referring to fig. 2, 6 and 7, in particular, the second joint assembly 40 includes a third motor 401, a first gear 402, a second gear 403, a second sleeve 404, a third sleeve 405, a second flat key 406, a third flat key 407, a second retaining ring 408, a fifth rolling bearing 409, an optical axis 410, a sixth rolling bearing 411 and a third driven sheave 412.
The third motor 401 is fixedly mounted on the track frame 210, a shaft of the third motor 401 is connected with the first gear 402 through a second flat key 406, the first gear 402 is engaged with the second gear 403, a second sleeve 404 is arranged between the second gear 403 and the track frame 210, a third sleeve 405 is arranged between the second gear 403 and a third driven track wheel 412, the third driven track wheel 412 is connected with the optical axis 410 through a fifth rolling bearing 409, the optical axis 410 is connected with the second gear 403 through a third flat key 407, one end of the optical axis 410 is connected with the track frame 210 through a sixth rolling bearing 411, and the other end of the optical axis 410 is connected with the Y-shaped frame 60.
Referring to fig. 2, 8 and 9, in particular, the leg wheel assembly includes a fourth motor 501, a push rod motor 502, a seventh rolling bearing 503, a third retainer 504, a leg wheel 505, a wheel cover 506, a push plate 507, a link 508, a telescopic block 509, a link small shaft 510, a fourth flat key 511 and a second nut 512.
The fourth motor 501 is fixedly mounted on the Y-shaped support 60, one end of a shaft of the fourth motor 501 is connected with the Y-shaped support 60 through a seventh rolling bearing 503, the other end of the shaft of the fourth motor 501 is connected with a second nut 512, the shaft of the fourth motor 501 is connected with a leg wheel 505 through a fourth flat key 511, a third retaining ring 504 is arranged at a joint of an end surface of the leg wheel 505 and the shaft of the fourth motor 501, the wheel cover 506 is connected with the leg wheel 505 through a screw, the push rod motor 502 is fixedly mounted on the wheel cover 506, the shaft of the push rod motor 502 is connected with a push disk 507, the push disk 507 is connected with a telescopic block 509 through a connecting rod 508, the connecting rod 508 is connected with the push disk 507 through a connecting rod small shaft 510, and the telescopic block 509 is arranged between the wheel cover 506 and the leg wheel 505.
In this embodiment, the first motor 201 rotates to rotate the track frame 210, thereby rotating the track assembly 30. The second motor 301 rotates to drive the driving crawler wheel 302 to rotate, so as to drive the crawler 309 to rotate. The rotation of the third motor 401 drives the first gear 402 to rotate, further drives the second gear 404 to rotate, thereby driving the optical axis 410 to rotate, and finally rotating the Y-shaped bracket 60. The rotation of the leg wheel 505 is directly driven by the fourth motor 501. The movement of the push rod motor 502 drives the push disk 507 to move, thereby driving the swing of the connecting rod 508 and further driving the telescopic block 509 to move along the diameter direction of the leg wheel 505. Wherein, when the robot is in a caterpillar track walking mode and a roller wheel walking mode, the telescopic block 509 is retracted in the leg wheel 505; when the robot is in the legged walking configuration, the telescopic blocks 509 extend outside the leg wheels 505.
Referring to fig. 1, when the robot is in a crawler traveling mode, the crawler driving unit 30 is in a horizontal state by the rotation of the first joint unit 20 and the second joint unit 40, and the robot is driven by the second motor 301 to move through the crawler 309. In order to enhance the stability of the robot on uneven ground, in this configuration, the leg wheel assembly 50 is in contact with the electromagnet assembly 120, and the electromagnet assembly 120 is energized to generate strong magnetic force to firmly attract the leg wheel assembly 50, so that the robot is in a stable triangular configuration.
Referring to fig. 2, when the robot is in the roller traveling mode, the robot is in the upright S-mode by the rotation of the first joint assembly 20 and the second joint assembly 40, and at this time, the robot is driven by the fourth motor 501 to perform a wheel-type motion, so that the robot can exhibit the advantage of wheel-type speed on a flat ground.
Referring to fig. 3, when the robot is in the legged walking configuration, the robot is in the straight standing configuration by the rotation of the first joint assembly 20 and the second joint assembly 40, and the robot realizes the cross-foot walking under the cooperation of the first motor 201 and the first motor 201. Meanwhile, the motor 502 can drive the telescopic block 509 to extend out according to rugged and steep terrain, so that the ground grabbing force of the leg wheels 505 is increased, and the robot has good climbing capability.
Referring to fig. 12, in addition, in this embodiment, various manipulators or life detection devices may be additionally installed on the flange 110 of the rack main body 10 to meet the requirements of different search and rescue operations.
It should be noted that the motors, the caterpillar tracks, the manipulators or the life detection devices in the present embodiment are not essential to the prior art, and are not the technical solutions that are mainly protected by the present application, so the structure and the operation principle thereof are not described in detail herein.
The description and practice of the disclosure herein will be readily apparent to those skilled in the art from consideration of the specification and understanding, and may be modified and modified without departing from the principles of the disclosure. Therefore, modifications or improvements made without departing from the spirit of the invention should also be considered as the protection scope of the invention.
Claims (5)
1. The polymorphic all-terrain search and rescue robot comprises a robot body and is characterized in that the robot body is of a bilaterally symmetrical structure and comprises a rack main body, a first joint assembly, a crawler transmission assembly, a second joint assembly, a leg wheel assembly and a Y-shaped support, wherein the first joint assembly, the crawler transmission assembly, the second joint assembly, the leg wheel assembly and the Y-shaped support are arranged on the left side and the right side of the rack main body;
the top end of the frame main body is fixedly connected with a flange plate, and the tops of the left side and the right side of the frame main body are respectively and fixedly connected with an electromagnet assembly;
the crawler belt transmission assembly is connected with the rack main body through a first joint assembly, the forked end of the Y-shaped support is connected with the crawler belt transmission assembly through a second joint assembly, and the other end of the Y-shaped support is connected with the leg wheel assembly.
2. The polymorphic all-terrain search and rescue robot of claim 1, wherein the first joint assembly comprises a first motor, a first rolling bearing, a first retainer ring, a first driven crawler wheel, a second rolling bearing, a second driven crawler wheel, a washer, a first nut, a first sleeve, a crawler support, a first flat key, and a third rolling bearing;
the first motor is fixedly arranged on the rack main body, a shaft of the first motor is connected with the rack main body through a first rolling bearing, a first sleeve is sleeved at the front end of the shaft of the first motor, a first nut is arranged at the front end of the first sleeve, the first driven crawler wheel is connected with the first sleeve through a second rolling bearing, and the second driven crawler wheel is connected with the shaft of the first motor through a third rolling bearing; the first nut and the second rolling bearing are tightly provided with a gasket, the left side and the right side of the third rolling bearing are respectively provided with a first retainer ring, and a shaft of the first motor is connected with the track support through a first flat key.
3. The polymorphic all-terrain search and rescue robot of claim 1, wherein the track transmission assembly comprises a second motor, a driving track wheel, a taper pin, a fourth rolling bearing, a support wheel shaft, a carrier wheel shaft and a track;
the second motor is fixedly arranged on the Y-shaped support, a shaft of the second motor is connected with the Y-shaped support through a fourth rolling bearing, the driving crawler wheel is connected with the shaft of the second motor through a taper pin, the supporting wheel is connected with the crawler support through a supporting wheel shaft, the crawler is pulled to move by the driving crawler wheel, and guard plates are arranged on two sides of the crawler.
4. The polymorphic all-terrain search and rescue robot of claim 1, wherein the second joint assembly comprises a third motor, a first gear, a second sleeve, a third sleeve, a second flat key, a third flat key, a second retainer ring, a fifth rolling bearing, an optical axis, a sixth rolling bearing, and a third driven crawler wheel;
the third motor is fixedly installed on the crawler support, a shaft of the third motor is connected with the first gear through a second flat key, the first gear is meshed with the second gear, a second sleeve is arranged between the second gear and the crawler support, a third sleeve is arranged between the second gear and a third driven crawler wheel, the third driven crawler wheel is connected with the optical axis through a fifth rolling bearing, the optical axis is connected with the second gear through the third flat key, one end of the optical axis is connected with the crawler support through a sixth rolling bearing, and the other end of the optical axis is connected with the Y-shaped support.
5. The polymorphic all-terrain search and rescue robot according to claim 1, wherein the leg wheel assembly comprises a fourth motor, a push rod motor, a seventh rolling bearing, a third retainer ring, a leg wheel, a wheel cover, a push disk, a connecting rod, a telescopic block, a connecting rod small shaft, a fourth flat key and a second nut;
the fourth motor is fixedly installed on the Y-shaped support, one end of a shaft of the fourth motor is connected with the Y-shaped support through a seventh rolling bearing, the other end of the shaft of the fourth motor is connected with a second nut, the shaft of the fourth motor is connected with the leg wheel through a fourth flat key, a third check ring is arranged at the joint of the end face of the leg wheel and the shaft of the fourth motor, the wheel cover is connected with the leg wheel through a screw, the push rod motor is fixedly installed on the wheel cover, the shaft of the push rod motor is connected with the push disk, the push disk is connected with the telescopic block through a connecting rod, the connecting rod is connected with the push disk through a connecting rod small shaft, and the telescopic block is arranged between the wheel cover and the leg wheel.
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| CN202110367422.2A CN112977662B (en) | 2021-04-06 | 2021-04-06 | Polymorphic all-terrain search and rescue robot |
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| CN202110367422.2A CN112977662B (en) | 2021-04-06 | 2021-04-06 | Polymorphic all-terrain search and rescue robot |
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| CN112977662A true CN112977662A (en) | 2021-06-18 |
| CN112977662B CN112977662B (en) | 2021-11-02 |
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Cited By (1)
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| CN113696983A (en) * | 2021-10-29 | 2021-11-26 | 江苏英拓动力科技有限公司 | Hydraulic anti-tilting mechanism of unmanned crawler |
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| CN112977662B (en) | 2021-11-02 |
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