CN201297476Y - Modularization combined type robot and mobile platform thereof - Google Patents
Modularization combined type robot and mobile platform thereof Download PDFInfo
- Publication number
- CN201297476Y CN201297476Y CNU2008201533094U CN200820153309U CN201297476Y CN 201297476 Y CN201297476 Y CN 201297476Y CN U2008201533094 U CNU2008201533094 U CN U2008201533094U CN 200820153309 U CN200820153309 U CN 200820153309U CN 201297476 Y CN201297476 Y CN 201297476Y
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- crawler belt
- base plate
- module
- drive system
- type robot
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- 239000000725 suspension Substances 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 5
- 238000004140 cleaning Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 239000012467 final product Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- -1 cleaning of front Chemical class 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Abstract
The utility model discloses a modularization combined type robot and a mobile platform thereof. The mobile platform comprises a base plate and two track modules detachably connected on two sides of the base plate; each track module comprises an annular track and a drive system; the drive system is arranged in the space of the track; and the robot comprises the mobile platform, a working module and a tool module. Since all mechanical parts and electronic parts of the drive system of the track modules are integrated inside the track module, the appearance is regular and concise, and is easy to combine with other modules; the base plate has a very simple structure which ensures that the form and function of the robot can be quickly and flexibly changed/arranged as required; the modularization structure provides simple mechanical interfaces to facilitate splicing, thereby resulting in better adaptability.
Description
Technical field
The utility model relates to robot, particularly is used for the robot of pipe-line purging.
Background technique
Pipeline cleaning robot generally comprises the mobile platform that can walk, and the arm with several degrees of freedom is installed on the mobile platform, and the end of arm can connect instruments such as sampling, brush or spray medicine, is used to carry out the cleaning task.Mobile platform is also to adopt forms such as wheel driving or track drive.
CN1907583A discloses a kind of multifunctional pipeline cleaning robot as the Chinese invention patent application, and as shown in Figure 1, it comprises a vehicle body 1, and the both sides of vehicle body 1 are provided with crawler belt 2,3; Elongated boom 5 is connected on the vehicle body 1 by link press span 4, and the top of elongated boom is provided with output shaft 6,7,8; The top of vehicle body 1 also connects a U type support 14 by a vertical pivot 9, and shooting is installed in the U type support 14 with lighting case 10, and shooting is equipped with lighting burner 11,13 and camera 12 with the front of lighting case 10.Be used for driving track 2,3 walking motor and transmission system, be used to drive the motor and the transmission system of link press span 4 pitching and be used to drive U type support 14 motor rotating and transmission system all is arranged in the vehicle body 1, the mobile platform that is made of vehicle body 1 and crawler belt 2,3 is exactly an organic whole like this, connects the basis for other parts provide.
But there is following defective in this structure: 1, dismounting inconvenience, and it is cumbersome to change parts; 2, structural type is fixed, to the bad adaptability of different pipelines.
The model utility content
A technical problem to be solved in the utility model provides a kind of easy to assembly, robot moving platform that adaptability is good.
In order to solve the problems of the technologies described above, the utility model adopts following technological scheme: a kind of modularized combination type robot moving platform, comprise base plate and two crawler belt modules that are detachably connected on the base plate both sides, each crawler belt module comprises the crawler belt and the drive system of an annular, and described drive system arrangements is in the space that crawler belt surrounded.
The beneficial effects of the utility model are: 1, all mechanical parts of drive system and electronic unit all are integrated in the crawler belt inside modules.The profile rule is succinct, is convenient to and other module combinations.2, the base plate structure is very simple, is convenient to as requested that fast and flexible changes/form and the function of the robot that arranges.3, provide simple and direct mechanical interface, convenient splicing, thus have better adaptability.
Preferably, described drive system comprises Athey wheel, retarder, motor and electrical equipment box, and described Athey wheel is meshed with crawler belt and is connected with motor by retarder, and described electrical equipment box also is connected with motor.
Preferably, comprise embedded controller and the communication module that is connected with embedded controller, driver and feedback processor in the described electrical equipment box, described driver is connected with motor with feedback processor.The embedded control system that this height is integrated is responsible for the stable and control of this module voluntarily, and is responsible for coordinating by the principal controller requirement with other modules.The user need only provide power supply and high-rise control command/information (as the forward/backward distance, forward/backward speed etc.).The controller that carries in the module is finished instruction with control information translation back commander's mechanical system reliable and stablely.
Preferably, also be provided with two hangoff receptacles in each crawler belt module, a hinged suspension arm on each hangoff receptacle, described suspension arm is connected with base plate.Point hang in this can utilize own wt to keep stable, can adapt to different road surface simultaneously.
Preferably, also be provided with vibration damper between described base plate and the crawler belt module.
Another technical problem to be solved in the utility model provides a kind of modularized combination type robot, it comprises mobile platform, operational module and tool model, described mobile platform comprises base plate and is detachably connected on two crawler belt modules of base plate both sides, each crawler belt module comprises the crawler belt and the drive system of an annular, and described drive system arrangements is in the space that crawler belt surrounded.
Preferably, described operational module is the four-degree-of-freedom mechanical arm.
Description of drawings
Below in conjunction with the drawings and specific embodiments the utility model is described in further detail.
Fig. 1 is the structural representation of existing a kind of pipeline cleaning robot.
Fig. 2 is the structural representation of a kind of modularized combination type robot moving platform of the utility model.
Fig. 3 is the plan view of a kind of modularized combination type robot moving platform of the utility model.
Fig. 4 is the plan view of Fig. 3.
Fig. 5 is the sectional view at A-A place among Fig. 3.
Fig. 6 is the internal structure schematic representation of crawler belt module.
Fig. 7 is the inside composition frame chart of crawler belt module.
Fig. 8 is a kind of modularized combination type robot construction of the utility model schematic representation.
Fig. 9-Figure 12 shows several combinations or the variation of the utility model robot moving platform.
Embodiment
At first with reference to Fig. 2-Fig. 4, a kind of robot moving platform 100 of the present utility model mainly is made up of base plate 120 and two crawler belt modules 110, and base plate 120 is flat boards that have a lot of screw holes.Two crawler belt modules 110 are arranged in the both sides of base plate 120, are provided with two hangoff receptacles 111 in each crawler belt module 110, a hinged suspension arm 112 on each hangoff receptacle 111, and the other end of suspension arm 112 is connected on the base plate 120 by screw.Be different from the parallelogram crawler belt suspension system of general caterpillar type robot, this robot directly uses simple hinge type suspension system.This suspension system is located at caterpillar system inside with articulating point, has born stability to guarantee this crawler belt.Adopt this interior some hang, crawler belt can be adjusted attitude angle automatically according to pavement behavior, guarantees better applying ground, guarantees the robot steadily of centre of gravity simultaneously.Can realize the steady walking transition from the square tubular to the pipe whereby, adapt to the road surface etc. that just rises and falls.The impedimenta of robot can be adjusted to crawler belt the position on the ground of fitting most.If increase damping simultaneously in the hinged place, can improve stability, prevent that crawler belt from too rocking, this damping can be a damping spring, perhaps increases frictional damping in the hinged place.To move qualitatively in order further improving, can between base plate 120 and crawler belt module 110, vibration damper 130 to be set.
In conjunction with Fig. 5 and Fig. 6, crawler belt module 110 comprises crawler belt 113, case and the drive system of an annular, and wherein case comprises side guard plate 114, upper guard board 115 and side group plate 116 again; Drive system comprises Athey wheel 117, retarder 118, motor 119 and electrical equipment box 140 etc. again, these parts of drive system all be arranged in by crawler belt 113 surrounded annular space in.
Fig. 7 shows the composition and the annexation of crawler belt inside modules drive system, and wherein motor drives the Athey wheel rotation by Transmitted chains after retarder slows down, and Athey wheel is meshed with crawler belt, thereby makes crawler travel.Electronic control system in the electrical equipment box comprises embedded controller, communication module, driver and feedback processor, communication module, driver and feedback processor all are connected with embedded controller, driver is connected with motor with feedback processor simultaneously, can realize the closed loop control to motor; Communication module then can be realized and being connected of other modules, principal controller.The embedded control system that this height is integrated is responsible for the stable and control of this module voluntarily, and is responsible for coordinating by the principal controller requirement with other modules.The user need only provide power supply and high-rise control command/information (as the forward/backward distance, forward/backward speed etc.).The controller that carries in the module is finished instruction with control information translation back commander's mechanical system reliable and stablely.Daisy chain (Daisy-Chain) mode distribution and transmission is adopted in control information, reduces connecting line and is connected difficulty, and newly-increased module only needs to connect with the module that has been connected nearby to get final product.
Shown in Figure 8 is a kind of modularized combination type robot construction of the utility model schematic representation, it comprises an above-mentioned mobile platform 100 and operational module 200, tool model 300, operational module 200 can be a mechanical arm, also be to be installed on the base plate of mobile platform 100 by screw, preferably, this operational module 200 is the four-degree-of-freedom mechanical arm; Tool model 300 is installed in the end of operational module 200, according to the task difference of carrying out, can be sampling head, brush or spray medicine, high-temperature steam device etc.
Because the utility model robot has realized modularization, the similar existing personal computer system of design concept, maintain very convenient, if device failure is arranged, the user who the does not have any professional knowledge function module of also can removing stage makeup and costume, the function module of damaging can be returned factory repair, is under warranty, and factory can send new module after receiving and damaging module at once.Having the user on certain basis also can buy various function modules upgrades to existing system.Electric binding between the function module is industrial interface, pegs graft to get final product.Because the machinery between the module and be electrically connected all simple and convenient, therefore conversion or make up its form easily, such as, change the base plate of different in width, just can change the width of robot, as Fig. 9, shown in Figure 10, thereby adapt to different line sizes; The front and back that also can realize two mobile platforms articulate, and as shown in figure 11, carry different operational modules respectively, carry out work compound, such as cleaning of front, the back carry out the dust suction operation; Also can change the length of base plate, carry a plurality of operational modules simultaneously, as shown in figure 12.
Claims (7)
1. modularized combination type robot moving platform, it is characterized in that: comprise base plate and two crawler belt modules that are detachably connected on the base plate both sides, each crawler belt module comprises the crawler belt and the drive system of an annular, and described drive system arrangements is in the space that crawler belt surrounded.
2. modularized combination type robot moving platform according to claim 1, it is characterized in that: described drive system comprises Athey wheel, retarder, motor and electrical equipment box, described Athey wheel is meshed with crawler belt and is connected with motor by retarder, and described electrical equipment box also is connected with motor.
3. modularized combination type robot moving platform according to claim 2, it is characterized in that: comprise embedded controller and the communication module that is connected with embedded controller, driver and feedback processor in the described electrical equipment box, described driver is connected with motor with feedback processor.
4. modularized combination type robot moving platform according to claim 1 is characterized in that: also be provided with two hangoff receptacles in each crawler belt module, and a hinged suspension arm on each hangoff receptacle, described suspension arm is connected with base plate.
5. modularized combination type robot moving platform according to claim 1 is characterized in that: also be provided with vibration damper between described base plate and the crawler belt module.
6. modularized combination type robot, comprise mobile platform, operational module and tool model, it is characterized in that: described mobile platform comprises base plate and is detachably connected on two crawler belt modules of base plate both sides, each crawler belt module comprises the crawler belt and the drive system of an annular, and described drive system arrangements is in the space that crawler belt surrounded.
7. modularized combination type according to claim 6 robot, it is characterized in that: described operational module is the four-degree-of-freedom mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201533094U CN201297476Y (en) | 2008-09-22 | 2008-09-22 | Modularization combined type robot and mobile platform thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201533094U CN201297476Y (en) | 2008-09-22 | 2008-09-22 | Modularization combined type robot and mobile platform thereof |
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| Publication Number | Publication Date |
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| CN201297476Y true CN201297476Y (en) | 2009-08-26 |
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| CNU2008201533094U Expired - Lifetime CN201297476Y (en) | 2008-09-22 | 2008-09-22 | Modularization combined type robot and mobile platform thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267503A (en) * | 2011-05-06 | 2011-12-07 | 北京航空航天大学 | Small combined robot formed by monomer throwing robots |
| CN104005443A (en) * | 2014-04-25 | 2014-08-27 | 湖南新天和工程设备有限公司 | Chassis mechanism used for crawler-type backhoe loader and mounting and demounting of chassis mechanism |
| CN106892008A (en) * | 2017-02-07 | 2017-06-27 | 浙江农林大学 | A kind of general crop field walking robot platform |
| CN107877519A (en) * | 2017-12-22 | 2018-04-06 | 郭利科 | One kind balance walking module Work robot |
| CN108480332A (en) * | 2018-04-02 | 2018-09-04 | 李子宁 | A kind of inside blockage-clearing device for hydraulic engineering pipeline |
| CN108860352A (en) * | 2018-08-08 | 2018-11-23 | 宁波史河机器人科技有限公司 | A kind of Modular track and robot |
-
2008
- 2008-09-22 CN CNU2008201533094U patent/CN201297476Y/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267503A (en) * | 2011-05-06 | 2011-12-07 | 北京航空航天大学 | Small combined robot formed by monomer throwing robots |
| CN102267503B (en) * | 2011-05-06 | 2012-07-25 | 北京航空航天大学 | Small combined robot formed by monomer throwing robots |
| CN104005443A (en) * | 2014-04-25 | 2014-08-27 | 湖南新天和工程设备有限公司 | Chassis mechanism used for crawler-type backhoe loader and mounting and demounting of chassis mechanism |
| CN104005443B (en) * | 2014-04-25 | 2015-09-23 | 湖南新天和工程设备有限公司 | For body chassis and the assembly and disassembly methods thereof of caterpillar type loader digger |
| CN106892008A (en) * | 2017-02-07 | 2017-06-27 | 浙江农林大学 | A kind of general crop field walking robot platform |
| CN106892008B (en) * | 2017-02-07 | 2020-09-25 | 浙江农林大学 | General field walking robot platform |
| CN107877519A (en) * | 2017-12-22 | 2018-04-06 | 郭利科 | One kind balance walking module Work robot |
| CN108480332A (en) * | 2018-04-02 | 2018-09-04 | 李子宁 | A kind of inside blockage-clearing device for hydraulic engineering pipeline |
| CN108480332B (en) * | 2018-04-02 | 2021-10-01 | 宁夏德美达建设工程有限公司 | A clear stifled device of inside for hydraulic engineering pipeline |
| CN108860352A (en) * | 2018-08-08 | 2018-11-23 | 宁波史河机器人科技有限公司 | A kind of Modular track and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: SHANGHAI YOUAIBAO ROBOT TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: ZHU HAIHONG Effective date: 20100519 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 200070 ROOM 302, NO.6, LANE 1431, QIUJIANG ROAD, ZHABEI DISTRICT, SHANGHAI CITY TO: 201203 ROOM 502, BUILDING 1, NO.563 SONGTAO ROAD, ZHANGJIANG HIGH-TECH. SCIENCE PARK, PUDONG NEW AREA, SHANGHAI CITY |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20100519 Address after: 201203 Shanghai Zhangjiang High Tech Park of Pudong New Area Songtao Road No. 563 Building 1 Room 502 Patentee after: United Intelligence Robot Technology, LLC Address before: Zhabei District Qiujiang road 200070 Shanghai 1431 Lane 6, Room 302 Patentee before: Zhu Haihong |
|
| C56 | Change in the name or address of the patentee | ||
| CP02 | Change in the address of a patent holder |
Address after: 201203 B104 room, No. 456 blue wave road, Zhangjiang hi tech park, Shanghai, Pudong New Area Patentee after: United Intelligence Robot Technology, LLC Address before: 201203 Shanghai Zhangjiang High Tech Park of Pudong New Area Songtao Road No. 563 Building 1 Room 502 Patentee before: United Intelligence Robot Technology, LLC |
|
| C56 | Change in the name or address of the patentee | ||
| CP02 | Change in the address of a patent holder |
Address after: 201315, room 3, building 2388, 1001 Pu Pu Road, Shanghai, Pudong New Area Patentee after: United Intelligence Robot Technology, LLC Address before: 201203 B104 room, No. 456 blue wave road, Zhangjiang hi tech park, Shanghai, Pudong New Area Patentee before: United Intelligence Robot Technology, LLC |
|
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: Room 202, room Y2, block, bright light road, Shanghai, Pudong New Area 201203, China Patentee after: SHANGHAI UNITED INTELLIGENCE ROBOTICS INC. Address before: 201315, room 3, building 2388, 1001 Pu Pu Road, Shanghai, Pudong New Area Patentee before: United Intelligence Robot Technology, LLC |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20090826 |