CN1994804A

CN1994804A - Wheel, leg, bounce mechanism combined mobile robot

Info

Publication number: CN1994804A
Application number: CN 200610155370
Authority: CN
Inventors: 王宣银; 程佳; 富晓杰
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2006-12-21
Filing date: 2006-12-21
Publication date: 2007-07-11
Anticipated expiration: 2026-12-21
Also published as: CN100429112C

Abstract

The invention relates to a wheel leg bounce movable robot, wherein it uses four-wheel body, with front and back swinging wheel legs and bounce structure. The invention combines wheel structure and leg structure, to change motion mode via different conditions. Via the back swinging wheel leg, when the robot is turnover, it can return by itself. The bottom bounce structure can fly over the obstacle; the table with CCD camera is mounted in the detecting table which can lift, to expand the view sight.

Description

Wheel, leg, bounce mechanism combined mobile robot

Technical field

The present invention relates to Robotics, especially relate to a kind of Wheel, leg, bounce mechanism combined mobile robot.

Background technology

The mobile robot rises since early fifties U.S. Barrett Electronicsgs company develops the first in the world platform automated guided vehicle system, as an important branch in the robotics, in danger such as home services, amusement, scientific investigation, space exploration, military weapon, fight against terrorism and violence, public safety and harsh environment, wide application prospect is arranged.

At present, in mobile robot's kinematic mechanism, generally adopt wheeled, crawler type and leg formula mechanism, that wheeled robot has is simple in structure, speed is high and advantage of low energy consumption, but is not suitable for crossing over as obstacles such as gully, step, stair, and obstacle climbing ability is poor; Caterpillar type robot has higher ride-through capability and good compatible with environment in natural environments such as soft, uneven landform, but has the shortcoming that friction drag is big, energy consumption is very high; Legged mobile robot has higher manoevreability, adapts to various complicated ground environment easily, but mechanism is comparatively complicated with control.In addition, with respect to the mobile robot who adopts above three kinds of mode of motion, the spring robot can be jumped over and cooresponding obstacle of self size or gully easily, even can jump over and be several times as much as the obstacle of self size, therefore is more suitable for complicated and uncertain environment.

Summary of the invention

Because the strong point of above-mentioned various mobile robot mechanisms is with not enough, the object of the present invention is to provide a kind of novel Wheel, leg, bounce mechanism combined mobile robot, make it to have simple in structure, the activity flexible characteristic, can adapt to various complex-terrains, can realize from reset function and skip functionality.

For realizing such purpose, the technical solution used in the present invention is:

Having adopted main body is the four-wheel car body, the version of compound front and back two wabble wheel legs and bouncing mechanism.Specifically be that laser rangefinder is being housed, sound transducer, 4 drive wheels are installed on acceleration pick-up and the gyrostatic car body, two rear wheels are respectively by being equipped with first, two wheel drive motors of second sensor drive, wheel drive motors is rotationally connected by synchronous band and two front vehicle wheels respectively, drive car body the place ahead a preceding wabble wheel leg is installed, it is driven by the preceding wabble wheel leg drive motor that the 3rd sensor is housed, wabble wheel leg after the rear is installed one, it is driven by the back wabble wheel leg drive motor that four-sensor is housed, two wabble wheel legs can freely swing around its axle of installing, end is equipped with wheel respectively, the car body bottom has to preceding with the top, back wabble wheel leg is regained the groove of placement fully, CCD camera on the robot is installed in has pitching, on the The Cloud Terrace of two rotational freedoms of revolution, The Cloud Terrace be installed in can the measuring platform of lifting on, form the lifting mechanism of swing parallel four-bar structure between measuring platform and the car body by two poles, wherein pole is driven by two transmission gears by the measuring platform lifting motor that the 5th sensor is housed; When measuring platform is lowerd, can be recovered in the deck of car body front end just; In the car body bottom bouncing mechanism is installed.

The present invention adopts five motors, and wherein two main motors are used for main the driving, realize the functions such as advancing, retreat, turn to of robot, and two wobble drive motors drive swing wheel leg, the lifting of a lifting motor control observation platform respectively.

The beneficial effect that the present invention has is: robot of the present invention is owing to adopted swing wheel leg, not only increased obstacle climbing ability, and by means of back wabble wheel leg, when toppling, can realize robot from reset function, the bouncing mechanism that install the robot bottom among the present invention has been broken through the restriction of general ground mobile robot, realized leap obstacle detouring function, the The Cloud Terrace that the CCD camera is installed is installed in the liftable measuring platform, increased the visual field of robot greatly, because above characteristics, the present invention possesses very high compatible with environment and obstacle climbing ability under the natural environment in the open air.

Description of drawings

Fig. 1 is the front elevation of each mechanism of the present invention when stretching out;

Fig. 2 is the birds-eye view that the present invention reflects inner transmission device (remove top cover, and back wabble wheel leg stretching out and the measuring platform rise);

Fig. 3 (b) is the front elevation of each mechanism of the present invention when regaining fully, and wherein (a) is shown in the partial view A to be the scheme drawing of bouncing mechanism;

Fig. 4 is the A-A cutaway view of Fig. 3;

Fig. 5 is the birds-eye view of each mechanism of the present invention when regaining fully;

Fig. 6 is the upward view of each mechanism of the present invention when regaining fully;

Fig. 7 is a reseting procedure scheme drawing of the present invention;

Fig. 8 is an obstacle detouring process scheme drawing of the present invention;

Fig. 9 is that the present invention strides ditch process scheme drawing;

Figure 10 is that the present invention leaps the process scheme drawing.

Among the figure: 1, car body; 2, back wabble wheel leg; 3.1,3.2,3.3,3.4, wheel; 4.1,4.2, pole; 5, back wabble wheel leg wheel; 6, The Cloud Terrace; 7, measuring platform; 8, preceding wabble wheel leg; 9.1,9.2, bouncing mechanism; 10, preceding wabble wheel leg wheel; 11, back wabble wheel leg drive motor; 12, measuring platform lifting drive motor; 13.1,13.2, wheel drive motors; 14.1,14.2, synchronous band; 15, preceding wabble wheel leg drive motor; 16.1,16.2, transmission gear; 17, bouncing mechanism motor; 18, screw-drive mechanism; 19, spring; 20, base plate.

The specific embodiment

The present invention is further illustrated below in conjunction with drawings and Examples.

As Fig. 1～shown in Figure 6, it is the four-wheel car body that the present invention has adopted main body, the version of compound front and back two wabble wheel legs and bouncing mechanism, 4 drive wheels 3 of installation on laser rangefinder, sound transducer, acceleration pick-up and the gyrostatic robot car body 1 are being housed, two rear wheels 3.1,3.2 are driven by wheel drive motors 13.2,13.1 respectively, and two front vehicle wheels 3.3,3.4 are by being with 14.1,14.2 also to be driven by wheel drive motors 13.1,13.2 respectively synchronously.A preceding wabble wheel leg 8 is installed in car body 1 the place ahead, it is driven by preceding wabble wheel leg drive motor 15, wabble wheel leg 2 after the rear is installed one, it is driven by back wabble wheel leg drive motor 11, two wabble wheel legs can freely rotate around its axle of installing, end all is equipped with

wheel

5 and 10, car body 1 bottom and top have the groove of regaining placement into forward and backward

wabble wheel leg

8,2 fully, when on flat ground surface, walking,

swing wheel leg

8,2 is all received in the car body 1, be 4 to take turns car, at obstacle detouring, stride ditch and then the wabble wheel leg is trailed when rolling, constitute 3 wheeled; The CCD camera is installed on the The Cloud Terrace 6 with two rotational freedoms (pitching, revolution), The Cloud Terrace 6 be installed in can the measuring platform 7 of lifting on, form the lifting mechanism of parallel four-bar structure between measuring platform 7 and the car body 1 by two poles 4.1,4.2, wherein pole 4.2 is driven by transmission gear 16.1,16.2 by measuring platform lifting motor 12.When measuring platform 7 is lowerd, can be recovered in the deck of car body 1 front end just; In car body 1 bottom bouncing mechanism 9 is installed, realizes the leap obstacle detouring function of robot when needing.

The present invention adopts six motors, wherein two main motors are used for main the driving, realize the functions such as advancing, retreat, turn to of robot, and two wobble drive motors drive swing wheel leg respectively, the lifting of a lifting motor control observation platform, a motor is used for the telescopic spring of bouncing mechanism.

(a) is the scheme drawing of the bouncing mechanism that provides of partial view A among Fig. 3, it consists of: DC machine 17 is positioned at the mechanism top, helicoidal gear 18 runs through mechanism's integral body, they have constituted the driver train of bouncing mechanism, screw-drive mechanism 18 is converted to straight line action on the vertical direction to the rotation of motor 17, thereby realized the compression of spring 19, when screw-drive mechanism 18 is compressed to certain position to spring 19, realize the locking of spring 19 by lockout mechanism, screw-drive mechanism 18 continue to move downward with the triggering releasing mechanism, release spring, the energy that is stored in the spring will promote entire mechanism, realize the spring of mechanism.Bouncing mechanism is used for reference other people achievement not in the present patent application scope.

Below in conjunction with figure the realization of each action of robot is described.

(1) Fig. 7 (robot resets): robot is in the situation of walking at a high speed and may occur toppling behind the spring obstacle detouring on the complex-terrain, and this just requires robot can automatically restore to maneuvering condition.The robot reseting procedure as shown in the figure, (figure a) utilizes back wabble wheel leg 2 to do outwards swing (figure b, figure c), realizes robot reset (figure d) when robot institute belt sensor perception car body topples.

(2) Fig. 8 (obstacle detouring): (figure a) can rely on

swing wheel leg

8,2 to realize obstacle detourings when robot runs into when only depending on the obstacle that wheel 3.3,3.4 can't cross over.During obstacle detouring, wabble wheel leg wheel 10 (figure b) on obstacle before according to the height of obstacle or the gradient preceding wabble wheel leg 8 being lifted certain angle and makes, make wheel 3.3,3.4 be cross over (figure c, figure d) on the obstacle to 3.3,3.4 while of lower swing jack-up wheel drive wheels then, back wabble wheel leg 2 is to the bottom jack-up mobile robot that lands, drive wheels (figure e, figure f) makes four wheels of mobile robot all on obstacle then, has so just realized mobile robot's obstacle detouring.Process as shown in the figure.

(3) Fig. 9 (striding ditch): (figure a) can take

turns leg

8,2 by swing and realize striding the ditch function between robot front vehicle wheel 3.3,3.4 and rear wheel 3.1,3.2 distances the time when robot runs into darker ditch and width.When striding ditch, preceding wabble wheel leg 8 is shown (figure b), before relying on wabble wheel leg 8 the trench opposite bank in order to avoid robot is called in (figure c) in the ditch, drive wheels 3.1,3.2 makes robot advance (figure d), drive back wabble wheel leg 2 this moment and make back wabble wheel leg 2 land (figure e), avoid robot to fall in the ditch equally, drive wheels strides over a ditch (figure f, figure g) robot, packs up back wabble wheel leg 2 (figure h) at last.Detailed process as shown in the figure

(4) Figure 10 (leap): when robot runs into the ditch that can not cross over or (figure a) during the obstacle that can't cross over by preceding wabble wheel leg, can send signal to bouncing mechanism by controller, the bouncing mechanism spring ejects realizes robot leap irrigation canals and ditches or obstacle (figure b, figure c), bouncing mechanism ejects the back DC machine and starts immediately, makes it realize bouncing mechanism withdrawal (figure d) before robot lands by the compression spring that rotatablely moves.Detailed process as shown in the figure.

The integral body control of robot is as shown below, robot is known and signal is sent to controller by being installed in laser rangefinder, sound transducer, acceleration pick-up, the gyroscope on the car body and being installed in CCD in the measuring platform the perception of environment, go out instruction by the controller calculating and sending each motor is controlled, the running state of each motor feeds back to controller by electromechanical transducer equally.So the various functions of robot, as reset, obstacle detouring, stride ditch, spring etc. all by behind each sensor senses robot surrounding environment of living in, are controlled each motor and bouncing mechanism is realized required function by the controller give a signal.

Above components and parts all can be obtained by choosing outsourcing.

The above-mentioned specific embodiment is used for the present invention that explains, rather than limits the invention, and in the protection domain of spirit of the present invention and claim, any modification and change to the present invention makes all fall into protection scope of the present invention.

Claims

1, a kind of Wheel, leg, bounce mechanism combined mobile robot, it is characterized in that: laser rangefinder is being housed, sound transducer, acceleration pick-up and gyrostatic car body (1) are gone up 4 drive wheels (3) are installed, two rear wheels (3.1,3.2) respectively by being equipped with first, two wheel drive motors (13.2 of second sensor, 13.1) drive, wheel drive motors (13.2,13.1) respectively by being with (14.2 synchronously, 14.1) and two front vehicle wheels (3.3,3.4) be rotationally connected, it is driven by the preceding wabble wheel leg drive motor (15) that the 3rd sensor is housed to drive car body (1) the place ahead preceding wabble wheel leg of installation (8), wabble wheel leg (2) after the rear is installed one, it is driven by the back wabble wheel leg drive motor (11) that four-sensor is housed, two wabble wheel legs (2,8) can freely swing around its axle of installing, end is equipped with wheel (5 respectively, 10), car body (1) bottom has to preceding with the top, back wabble wheel leg (8,2) regain the groove of placing fully, CCD camera on the robot is installed in has pitching, on the The Cloud Terrace (6) of two rotational freedoms of revolution, The Cloud Terrace (6) be installed in can the measuring platform (7) of lifting on, pass through two poles (4.1 between measuring platform (7) and the car body (1), 4.2) form the lifting mechanism of swinging the parallel four-bar structure, wherein pole (4.2) is passed through two transmission gears (16.1 by the measuring platform lifting motor (12) that the 5th sensor is housed, 16.2) drive; When measuring platform (7) when loweing, can be recovered to just in the deck of car body (1) front end; In car body (1) bottom bouncing mechanism (9) is installed.