CN201140734Y - Mobile robot with combined step-wheel-footstep - Google Patents

Mobile robot with combined step-wheel-footstep Download PDF

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Publication number
CN201140734Y
CN201140734Y CNU2007201902431U CN200720190243U CN201140734Y CN 201140734 Y CN201140734 Y CN 201140734Y CN U2007201902431 U CNU2007201902431 U CN U2007201902431U CN 200720190243 U CN200720190243 U CN 200720190243U CN 201140734 Y CN201140734 Y CN 201140734Y
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CN
China
Prior art keywords
wheel
car body
crawler belt
mobile robot
retarder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CNU2007201902431U
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Chinese (zh)
Inventor
姚燕安
石侃
秦建军
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Beijing Jiaotong University
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Beijing Jiaotong University
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Priority to CNU2007201902431U priority Critical patent/CN201140734Y/en
Application granted granted Critical
Publication of CN201140734Y publication Critical patent/CN201140734Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model relates to a step wheel caterpillar composite moving robot. The centers of a front wheel and a back wheel and a car body are connected through expansion rods and caterpillar belt side wings, the height of the caterpillar belt side wings away from the horizontal plane is smaller than the diameter of the wheel, a power on the car body is connected with the wheel through a bearing after passing through a reducer on the car body, the two ends of the expansion rod are respectively connected with spherical pairs fixed on the car body and caterpillar belt side wings. The rotation function can be realized through the power on the car body and the reducer, the expansion function is realized through a gear rack mechanism or the hydraulic pressure, and the caterpillar belt side wings can move through the power and the reducer fixed on the caterpillar belt side wings. The moving robot of the utility model uses a wheel type moving robot as a carrier, the upper portion is an overlapped with a leg type or caterpillar belt type moving mechanism, the robot can be suitable for ground surface curved lines through changing the grounding curved lines of the system, has multiple moving models and stronger barrier-bypassing ability, can adjust gravity through changing the postures of the caterpillar belt side wings or the car body, and has the characteristics of flexible movement and compact structure.

Description

A kind of step wheel combined mobile robot
Technical field
The utility model relates to the robot field, relates in particular to a kind of step wheel combined mobile robot.The utility model mobile robot is to be carrier with the wheeled mobile robot, above superimposed leg formula and crawler type travel mechanism, make it have wheeled, crawler type, the multiple mode of motion of leg formula.
Background technology
Wheeled, crawler type, leg formula travel mechanism are that to study maximum also be the three kinds of travel mechanisms the most widely that are applied at present on the mobile robot to people.That wheeled mobile robot has is simple in structure, moving velocity fast and be convenient to characteristics such as manipulations, can not going up or down stairway and leap trench but it is adapted at the operation of smooth ground.The characteristics of caterpillar mobile robot are good stabilities, and it can be walked on broken terrain, and can clear the jumps and ascend big slope or ladder.But the manipulation of crawler type travel mechanism sense of motion is controlled by left and right sides track speed difference.Problem such as can occur when therefore, turning to sliding, resistance is big, Turning radius and center accuracy are relatively poor.Leg type mobile robot is meant the robot that has adopted similar people, animal or insect to take a step to move with pin, the mobile robot that forms such as two foots, four-footed, six foots and polypody are arranged, their common feature is only to need discrete touchdown point, just can on level land and broken terrain, walk, can stride across a trench, obstacle and upper and lower ladder such as cave, have higher manoevreability.Yet the control of leg formula travel mechanism is complicated, and correlation technique is not overripened yet, and involves great expense.
In recent years, many scholars have carried out the research based on the mobile robot of composite structure, the Liu Fanghu of Shanghai Communications University in the calendar year 2001 SEPARATE APPLICATION turning-over movable robot with wheel legs (publication number: CN1317397A) and the patent (publication number: CN 1317398A) of pipe-type movable robot with wheel legs; Poplar you cleer and peaceful to the bright patent (publication number: CN1397409A) of having applied for the 4-leg chain wheel type mobile robot in 2003.Above-mentioned several patents is that wheeled, leg formula or crawler type, leg formula structure are combined with each other.And Beijing Institute of Technology is yellow strong, the patent that people such as Duan Xingguang applied for small crawler leg composite movable robot in 2005 (publication number: CN 1644328A), though this patent is wheeled, crawler type and leg formula mechanism are combined with each other, but its designed crawler belt leg structure is a crawler belt does the motion that 360 degree rotations come simulated leg around the point of connection of itself and robot body, and the crawler belt leg has adopted inside and outside shaft transmission, i.e. two motions of transmission on same center of turn, cause crawler belt and leg easy et out of order when switching like this, reliability reduces, and control is complicated.Therefore, the structure of composite structure and control complexity remain an obstacle of modern mobile robot's maneuvering performance.
The utility model content
The purpose of this utility model is to avoid above-mentioned weak point of the prior art and product that a kind of step wheel combined mobile robot is provided.Step wheel combined mobile robot adopts symmetrical structure, is made up of car body, four identical wheels and expansion link, two identical crawler belt flanks.The expansion link two ends are connected with car body and crawler belt flank respectively, and can do 360 degree revolutions.Wheel adopts double rear wheel to drive, and differential steering is exported to drive wheel by power through retarder respectively.The design-calculated wheel diameter is greater than crawler belt flank and height of the carbody, but still maintenance motion after making robot tumble.It has multiple mode of motioies such as legged, wheeled, crawler type.
The purpose of this utility model can reach by following measure:
A kind of step wheel combined mobile robot, by car body, constitute at affixed four identical wheels of the forward and backward two ends of car body symmetry, wheel adopts double rear wheel to drive, it is characterized in that: each trailing wheel is driven by independent driving system, its drive system is by the DC servomotor, drive trailing wheel through retarder, wheel diameter is greater than crawler belt flank and height of the carbody.
Described a kind of step wheel combined mobile robot, wheel adopt front and rear wheel to drive, and each wheel is driven by independent driving system.
Described a kind of step wheel combined mobile robot is connected with the crawler belt flank by expansion link on the center of front and rear wheel and car body.Its crawler belt flank apart from the height of horizontal surface less than wheel diameter,
Its expansion link telescoping mechanism is: be fixed on DC driven by servomotor pinion and rack or hydraulic pressure on forward and backward each side of car body;
Crawler belt flank actuating unit is: be fixed on the DC driven by servomotor retarder of each side crawler belt flank on himself.
Described a kind of step wheel combined mobile robot, the rotating mechanism of expansion link constitutes: the expansion link two ends respectively be fixed on car body and be connected with spherical pair on the crawler belt flank, by being fixed on the DC driven by servomotor retarder on forward and backward each side of car body.
Described a kind of step wheel combined mobile robot, the retarder reduction ratio that the front and rear wheel of wherein above-mentioned driving car body rotates is less than the retarder reduction ratio of above-mentioned driving crawler belt flank power;
The retarder reduction ratio that wherein above-mentioned driving crawler belt flank rotates is less than the retarder reduction ratio of above-mentioned expansion link rotation.
The utility model has following advantage compared to existing technology:
The utility model mobile robot is to be carrier with the wheeled mobile robot, above superimposed leg formula and crawler type travel mechanism, multiple mode of motion makes it that stronger obstacle climbing ability be arranged, and have motion flexibly, the characteristics of compact conformation;
Robot of the present utility model has wheel, crawler belt and three kinds of mode of motioies of walking, and the advantage of various travel mechanisms that it is integrated makes robot can select different mode of motioies in different terrain environments.In addition, go on foot wheel-track combined moving structure the system earth curve is changed automatically to contain face of land curve, strengthened the obstacle climbing ability of robot;
The robot that the utility model relates to is adjusted the position of center of gravity by the attitude that changes crawler belt flank or car body, to overcome the problem that fixedly center of gravity and stability boundaris limit.Especially when ascending the inclined-plane, can conveniently adjust the robot center of gravity, improve the stability of motion of robot.
Description of drawings
Fig. 1 is a step wheel combined mobile robot structural representation among the utility model embodiment;
Fig. 2 A is that step wheel combined mobile robot runs into the obstacle scheme drawing among the utility model embodiment;
Fig. 2 B is that the step wheel combined mobile robot flank is costed the obstacle scheme drawing among the utility model embodiment;
Fig. 2 C is that step wheel combined mobile robot is prepared the walking scheme drawing among the utility model embodiment;
Fig. 2 D is that step wheel combined mobile robot is stepped up the obstacle scheme drawing among the utility model embodiment;
Fig. 2 E is that step wheel combined mobile robot is striden down the obstacle scheme drawing among the utility model embodiment;
Fig. 2 F is a step wheel combined mobile robot clear an obstacle scheme drawing among the utility model embodiment;
Fig. 2 G is that step wheel combined mobile robot continues the scheme drawing that travels among the utility model embodiment;
Fig. 3 A is that step wheel combined mobile robot runs into the trench scheme drawing among the utility model embodiment;
Fig. 3 B is step wheel combined mobile robot flank scheme drawing on the trench among the utility model embodiment;
Fig. 3 C is a step wheel combined mobile robot walking scheme drawing among the utility model embodiment;
Fig. 3 D is that step wheel combined mobile robot is crossed over the trench scheme drawing among the utility model embodiment;
Fig. 3 E is that step wheel combined mobile robot continues the scheme drawing that travels among the utility model embodiment.
The figure number explanation
1 ... crawler belt flank 2 ... expansion link 3 ... car body 4 ... trailing wheel
5 ... front-wheel 6 ... power (wheel) 7 ... power (expansion link)
8 ... power (crawler belt)
The specific embodiment
Below in conjunction with drawings and Examples the technical solution of the utility model is described in detail.
As shown in Figure 1, in the technical solution of the utility model, the design-calculated step wheel combined mobile robot is carrier with the wheeled mobile robot, is connected with crawler belt flank 1 by expansion link 2 on the center of front and rear wheel 5,4 and car body 3.And guarantee crawler belt flank 1 apart from the height of horizontal surface less than wheel diameter.When crawler belt flank 1 is unsettled, can come the Adjustment System center of gravity by the length and the anglec of rotation of adjusting expansion link 2.Power and other instrument and equipments are housed on the car body 3 in addition.The dynamic DC servomotor that all adopted of mobile robot of the present invention is exported behind retarder.Wheeled motion requires at a high speed, flexibly, so adopted the little motor of the retarder of less reduction ratio and light weight, volume to realize high-speed motion; Caterpillar drive does not require at a high speed, has therefore adopted the retarder of big retarding ratio to cooperate motor to realize stronger obstacle detouring function; And the big moment requirement of the motor of realizing walking-function when also having adopted retarder than the big retarding ratio to satisfy support car body 3.
Step of the present utility model wheel-track combined structure mobile robot's annexation is as follows: the power 6 on the car body 3 is connected by the connection modes such as bearing that are fixed on the car body 3 with wheel through retarder; Expansion link 2 two ends respectively be fixed on car body 3 and be connected with spherical pair on the crawler belt flank 1, and realize spinfunction by the power 7 and the retarder that are fixed on the car body 3, its Telescopic is realized by pinion and rack or hydraulic pressure; 1 of crawler belt flank is realized motor function by the power 8 that is fixed on himself through retarder.
Robot drives trailing wheel 4 rotations by power 6 through retarder under the normal condition, can finish the functions such as advancing, retreat of robot, and turning function then relies on the wheel differential to realize.The power 7 of expansion link 2 drove expansion link 2 through retarder and rotated to certain angle and make crawler belt flank 1 remain on the position between ground and car body 3 upper ends and be vacant state this moment.Under this state, can guarantee that still it continues motion, and the crawler belt flank splits on the car body both sides, can play the effect of protection car body and wheel even robot is tumbled.
When running into situations such as soft terrain, trench or other sudden change obstacles, when being the wheeled ground environment that can't pass through, power 7 drives expansion link 2 rotations, thereby drive crawler belt flank 1 and rotate to kiss the earth, utilize the function that crawler belt power 8 can be realized advancing, retreat and differential is turned, perhaps motion when applying power 6 and 8 simultaneously and realize wheel and crawler belt.
Continue to apply expansion link 2 power 7, antagonistic force and power 7 in the face of the crawler belt flank makes the power of expansion link 2 rotations form couple at this moment, effect by couple is to make object rotate this character, and when crawler belt flank 1 lands and can not continue to rotate, expansion link 2 will lift car body.When car body 3 is unsettled, as adjusting the length of expansion link 2, can finish the multiple attitude of car body 3, mode is as follows:
1, front two expansion links 2 extend simultaneously, and back two expansion links 2 shorten simultaneously, and car body 3 is the attitude that leans forward;
2, front two expansion links 2 shorten simultaneously, and back two expansion links 2 extend simultaneously, and car body 3 is the hypsokinesis attitude;
3, left side two expansion links 2 shorten simultaneously, and right side two expansion links 2 extend simultaneously, and car body 3 is the Right deviation attitude;
4, right side two expansion links 2 shorten simultaneously, and left side two expansion links 2 extend simultaneously, and car body 3 is left-leaning attitude.
Fall earthward after car body 3 rotates a circle, crawler belt flank 1 will rotate to vacant state once more, so just finish mobile robot's a walking movement if continue to apply the power 7 that drives expansion link 2 rotations this moment.As long as power 7 does not stop, robot will continue to do walking movement.When crawler belt flank 1 is unsettled, as mentioned above, adjust the length of expansion link 2, can finish the crawler belt flank front and back and about the attitude of inclining when crossing the sudden change obstacle or crossing over trench, can adapt to changeable terrain environment to guarantee robot.
Crawler belt flank 1 advance, retreat except finishing and turning function, also to finish the function of walking.This robot has following several gait:
1. as mentioned above, when power 7 drives four expansion links rotated simultaneously, the mobile robot relied on crawler belt flank and ground-surface application force to finish walking-function;
2. left side (right side) two expansion links are after simultaneously (back) rotates a circle forward, and right side (left side) two expansion links (back) also forward rotate a circle, and finish walking-function with this alternating movement.
Because robot left and right sides expansion link anglec of rotation difference can make crawler belt flank 1 highly different, though can guarantee thus robot about still can keep car body 3 horizontal motions under the highly different terrain environment.In addition,, entire machine people length is increased, make it can cross over obstacles such as trench if the expansion link 2 an of left side (right side) side is opposite with right (left side) side expansion link 2 hand of rotation.
As Fig. 2 A, Fig. 2 B, Fig. 2 C, Fig. 2 D, Fig. 2 E, Fig. 2 F, Fig. 2 G is the disassembling operation scheme drawing of finishing leaping over obstacles.
Fig. 3 A, Fig. 3 B, Fig. 3 C, Fig. 3 D, Fig. 3 E finish the disassembling operation scheme drawing of crossing over trench.
The utility model step wheel combined mobile robot is adapted at carrying out in the non-structure environments such as battlefield, celestial body surface tasks such as scouting, detection, this robot has fast, mode of motion flexibly, have certain rigidity again and keep balance to bear the power and the moment that exist in robot self gravitation and the operating process, also have higher manoevreability and stronger obstacle climbing ability in addition, and still can continue motion after tumbling.
Certainly; the utility model also can have other various embodiments; under the situation that does not deviate from the utility model spirit and essence thereof; those of ordinary skill in the art work as can make various corresponding changes and distortion according to the utility model, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the utility model.

Claims (5)

1, a kind of step wheel combined mobile robot, by car body, constitute at affixed four identical wheels of the forward and backward two ends of car body symmetry, wheel adopts double rear wheel to drive, it is characterized in that: each trailing wheel is driven by independent driving system, its drive system is by the DC servomotor, drive trailing wheel through retarder, wheel diameter is greater than crawler belt flank and height of the carbody.
2, a kind of step wheel combined mobile robot as claimed in claim 1 is characterized in that: wheel adopts front and rear wheel to drive, and each wheel is driven by independent driving system.
3, as each the described a kind of step wheel combined mobile robot in the claim 1,2, it is characterized in that: on the center of front and rear wheel and car body, be connected with the crawler belt flank by expansion link, its crawler belt flank apart from the height of horizontal surface less than wheel diameter
Its expansion link telescoping mechanism is: be fixed on DC driven by servomotor pinion and rack or hydraulic pressure on forward and backward each side of car body;
Crawler belt flank actuating unit is: be fixed on the DC driven by servomotor retarder of each side crawler belt flank on himself.
4, a kind of step wheel combined mobile robot described in claim 3, it is characterized in that: the rotating mechanism of expansion link constitutes and is: the expansion link two ends respectively be fixed on car body and be connected with spherical pair on the crawler belt flank, by being fixed on the DC driven by servomotor retarder on forward and backward each side of car body.
5, a kind of step wheel combined mobile robot as claimed in claim 4 is characterized in that:
The retarder reduction ratio that the front and rear wheel of wherein above-mentioned driving car body rotates is less than the retarder reduction ratio of above-mentioned driving crawler belt flank power;
The retarder reduction ratio that wherein above-mentioned driving crawler belt flank rotates is less than the retarder reduction ratio of above-mentioned expansion link rotation.
CNU2007201902431U 2007-11-19 2007-11-19 Mobile robot with combined step-wheel-footstep Expired - Fee Related CN201140734Y (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101746424B (en) * 2009-12-31 2012-10-31 华南理工大学 Shape-changeable moving mechanism capable of driving salvation robot on multiple directions
CN104890751A (en) * 2015-06-12 2015-09-09 洛阳理工学院 Obstacle-crossing traveling mechanism of track searching engine
CN105059407A (en) * 2015-08-14 2015-11-18 中国矿业大学 Movable platform using gear and rack for adjusting width and robot with same
CN106275113A (en) * 2016-08-08 2017-01-04 中国矿业大学 Mobile platform that joint crawler belt and wheel are combined mutually and there is its fire-fighting robot
CN106828630A (en) * 2015-12-03 2017-06-13 工程服务公司 Dual-mode vehicle
CN108860340A (en) * 2017-05-10 2018-11-23 中国石油大学(北京) Wheel-track combined omni-directional mobile robots
CN109703639A (en) * 2018-12-03 2019-05-03 北京建筑大学 A kind of robot with variable structure
CN109774809A (en) * 2018-11-30 2019-05-21 山东大学 Magnetic conduction wall surface mobile mechanism and magnetic conduction wall-surface mobile robot
CN111766877A (en) * 2018-06-27 2020-10-13 北京航空航天大学 Robot
CN112896356A (en) * 2021-04-21 2021-06-04 衡昇科技有限公司 Controllable wall climbing adsorption device of magnetic force constructs and wall climbing robot

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101746424B (en) * 2009-12-31 2012-10-31 华南理工大学 Shape-changeable moving mechanism capable of driving salvation robot on multiple directions
CN104890751A (en) * 2015-06-12 2015-09-09 洛阳理工学院 Obstacle-crossing traveling mechanism of track searching engine
CN105059407A (en) * 2015-08-14 2015-11-18 中国矿业大学 Movable platform using gear and rack for adjusting width and robot with same
CN106828630A (en) * 2015-12-03 2017-06-13 工程服务公司 Dual-mode vehicle
CN106275113A (en) * 2016-08-08 2017-01-04 中国矿业大学 Mobile platform that joint crawler belt and wheel are combined mutually and there is its fire-fighting robot
CN106275113B (en) * 2016-08-08 2018-09-25 中国矿业大学 The joint crawler belt mobile platform mutually compound with wheel and the fire-fighting robot with it
CN108860340A (en) * 2017-05-10 2018-11-23 中国石油大学(北京) Wheel-track combined omni-directional mobile robots
CN111766877A (en) * 2018-06-27 2020-10-13 北京航空航天大学 Robot
CN109774809A (en) * 2018-11-30 2019-05-21 山东大学 Magnetic conduction wall surface mobile mechanism and magnetic conduction wall-surface mobile robot
CN109774809B (en) * 2018-11-30 2020-06-09 山东大学 Magnetic conduction wall surface moving mechanism and magnetic conduction wall surface moving robot
CN109703639A (en) * 2018-12-03 2019-05-03 北京建筑大学 A kind of robot with variable structure
CN112896356A (en) * 2021-04-21 2021-06-04 衡昇科技有限公司 Controllable wall climbing adsorption device of magnetic force constructs and wall climbing robot

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GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20081029

Termination date: 20111119