CN201760877U - Deformable robot travelling mechanism suitable for all landforms - Google Patents
Deformable robot travelling mechanism suitable for all landforms Download PDFInfo
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- CN201760877U CN201760877U CN2010202268638U CN201020226863U CN201760877U CN 201760877 U CN201760877 U CN 201760877U CN 2010202268638 U CN2010202268638 U CN 2010202268638U CN 201020226863 U CN201020226863 U CN 201020226863U CN 201760877 U CN201760877 U CN 201760877U
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- 230000002493 climbing Effects 0.000 description 19
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- 230000000153 supplemental Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 240000001307 Myosotis scorpioides Species 0.000 description 2
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Abstract
The utility model relates to a deformable robot travelling mechanism suitable for all landforms, comprising a frame, wheel-type mechanisms and an overturn arm mechanism. The wheel-type mechanism is a four-wheel mechanism and is driven by a driving wheel; a driven wheel is driven by a synchronous belt; the wheel-type mechanisms at the left and right sides are driven by a motor respectively; the synchronous belt connected with the driving wheel and the driving wheel is encapsulated in a robot cavity; an auxiliary travelling mechanism is an overturn arm mechanism, consists of a quick connecting assembly, a rocker shell and an overturn arm wheel and can be mounted on both sides of the wheel-type mechanisms through the quick connecting assembly; and the quick connecting assembly enables the overturn arm to be rapidly mounted on a robot chassis or rapidly removed. The robot travels mainly relying on the four-wheel mechanism; the overturn arm mechanism has the functions of auxiliary movement and mechanism deformation; and the variability on the mechanism form ensures that the mechanism has the shapes of four-wheel, class crawler, expansion six-wheel, and the like. The utility model has the advantages of light weight, flexible movement, rapid speed, high transmission efficiency, all-landform suitability, and the like of wheel-type and crawler-type robots.
Description
Technical field
The utility model relates to a kind of walking mechanism of robot, particularly discloses a kind of robot running gear of deformable all-terrain adaptable, belongs to the Robotics field.
Background technology
The mobile robot be a kind of can be independently or the half autonomous robot that moves, its walking manner of the mobile robot of Ying Yonging mainly contains wheeled, crawler type, sufficient formula etc. on land.
The advantage of wheeled robot is high-speed mobile and high operating efficiency, its problem is to be difficult to cross over bigger barrier, such as threshold, stair etc., also is not suitable for travelling on the road surface of complexity, as mire, rubble ground etc., therefore traditional wheeled robot is difficult to realize full landform walking.Some improved wheeled mechanisms can partly improve the obstacle climbing ability of robot: CN2717789 has proposed a kind of robot platform of four-wheel drive, link to each other with passing through a trapezoidal linkage between two front-wheels, two trailing wheels respectively between the front and back wheel, link to each other by electromagnetic clutch between four wheels and the motor, can bear bigger load-carrying, straight-line travelling and turning to flexibly, can be applicable to the various complex road conditions of indoor and outdoor, but this robot build, car body is heavy, do not belong to the lightweight robot, can not stair climbing.US 3,609,804 have proposed a kind of combination of taking turns with crawler belt, adopt two driving wheels in front to drive, next two supporting rollers, a pair of rotatable crawler belt, the crawler belt auxiliary robot can be crossed the barrier of certain altitude, but this mechanism only depends on the motion of front-wheel successfully to climb up because trailing wheel does not have power during on stair climbing, slope etc.CN 100355535C has proposed a kind of wheeled guide, when running into the barrier robot body and being forced to promote, wheel can keep the mechanism with surface contact force, and the obstacle height that this mechanism can cross robot is very limited, the robot platform of the landform that can not be used for demanding perfection.US 4,932, and 491 have proposed a kind of mechanism that adds a pair of auxiliary wheel on four wheel mechanism, and auxiliary wheel links to each other with front axle by sub-arm, by the support of sub-arm, make the robot can obstacle detouring, walk in rugged road surface.But form that this mechanism is basic or four wheel mechanism, mid portion lacks support during stair climbing, thus be not suitable for stair climbing, same principle, this mechanism also is not suitable for crossing over wide gully.Some robots adopt six wheel mechanisms that hang, such as UGCV of planet robot, lunar rover, NREC etc., the robot of this kind mechanism can adapt to certain complex-terrain, but general complex structure, bulky, belong to land vehicle type, wheel position relative fixed, not enough light and flexible, it is limited to be applied to the lightweight robot.
At present, the mobile robot who is fit to full landform designs and mainly concentrates on track structure so that robot can obstacle detouring, stair climbing, stride ditch etc.(US 6 as the Packbot robot of iRobot company, 668,951B2), the mode of two pedrail mechanisms and a preceding flip-arm about having adopted, front-wheel drive, trip shaft is coaxial with main drive shaft, and flip-arm plays a supportive role when robot stair climbing and obstacle detouring, improved the landform adaptability of robot greatly, present many robots also adopt similar this kind mechanism.The mechanism that also has some robots to adopt former and later two flip-arms, performance is better during stair climbing, and robot is generally huger, as ROMOTEC explosive-removal robot (US 5,022,812).Also have some other forms of crawler type mechanisms, in sum, caterpillar robot can be fit to stair, complex road surface such as rugged and rough, but following drawback is arranged when being applied in the lightweight robotic aspect:
(1) because the friction on outer crawler belt and ground makes robot that bigger frictional dissipation be arranged, thus be unsuitable for motion at a high speed, under the bigger situation of frictional force, the pivot stud difficulty.
(2) crawler belt enters small objects such as branch, sandstone on the meadow in the sandstone ground driving process easily, causes crawler belt to be stuck easily, and robot moves difficulty, and loss wheel hub or crawler belt.
(3) crawler belt involves great expense, and the production cycle is longer.
(4) crawler belt damages the back and changes relatively difficulty fast.
Summary of the invention
The purpose of this utility model is to address the deficiencies of the prior art, propose a kind of robot running gear of deformable all-terrain adaptable, adopt four-wheel-type mechanism to add the mechanism of preceding flip-arm, can satisfy the requirement of fast moving, again can stair climbing, across obstacle, volume is little, and is in light weight, easy to carry, speed of service height, can all-terrain adaptable running environment, and can the Fast Installation accessory, can be used as multi-purpose robot moving platforms such as investigation, strike, rescue.
The utility model is achieved in that a kind of robot running gear of deformable all-terrain adaptable, comprises framework, wheeled mechanism and overturn arm mechanism.
Described framework comprises robot chassis, support and cavity, is the support section that loads other mechanism's parts.
Described wheeled mechanism adopts front-wheel drive, trailing wheel to adopt the four wheel mechanism of band drive synchronously, and the wheeled mechanism of left and right side uses a motor-driven respectively; The synchronous band that connects driving wheel and driven pulley is encapsulated within the robot cavity, can not enter object and stuck, can different types of tyre be installed according to the different application occasion on the driving wheel of described wheeled mechanism and the driven pulley, and tire can be changed fast.Drive and transmission mechanism mainly adopts direct current generator and motor encoder, motor driver, is with mechanism and gear drive synchronously.Direct current generator drives two driving wheel rotations of and arranged on left and right sides, drives corresponding trailing wheel rotation by synchronous band.
Described overturn arm mechanism is made up of fast connected components, rocking arm housing and flip-arm wheel, and with driving wheel, the parallel wheeled mechanism both sides that are distributed in of driven pulley, described fast connected components makes flip-arm can be quickly installed on the robot chassis or fast quick-detach.The driving of overturn arm mechanism and transmission mechanism are by drive motors, worm-and-wheel gear, upset arm axle, be with mechanism and flip-arm axle assembly to form synchronously; an end of rocking arm housing connects the flip-arm wheel by the flip-arm axle assembly; the other end of rocking arm housing is provided with fast connected components; and be connected in the synchronous band mechanism of flip-arm axle head head of driving wheel one side by it, drive overturn arm mechanism by drive motors and worm-and-wheel gear and move.
Described driving wheel, driven pulley and flip-arm size of wheel are identical.Described flip-arm wheel can be around its 360 ° of rotations of arm axle of overturning, and can be positioned on any angular position, and auxiliary robot is realized various attitudes: be four wheel mechanism when pulling down flip-arm, robot can be on flat road surface fast moving; When flip-arm was positioned in the middle of driving wheel and the driven pulley, the flip-arm wheel was synchronous as driven pulley and other four-wheels, becomes six wheel mechanisms, forms the effect of similar pedrail mechanism, adapts to rugged ground, can stair climbing, and obstacle detouring etc.; The flip-arm driving wheel the place ahead of extending straight forward when supporting ground, is extended to six long wheel mechanisms, the gully that can cross broad like a cork; Flip-arm rotates forward and can support to when having a certain degree on the step, helps the robot stair climbing; When supportting on the ground downwards, the robot rear portion can be lifted flip-arm.
Described robot moves main employing four wheel mechanism, this mode guaranteed robot on flat road surface flexibly, move apace.Overturn arm mechanism can play the supplemental support effect, make robot can obstacle detouring, upset, liter lift, and promoted the full landform adaptive capacity of robot greatly.Because the flip-arm with miscellaneous function has been added in the front, the utility model robot can be deformed into multiple attitude, make robot combine wheeled and advantages two kinds of mechanisms of crawler type, in light weight, can fast moving, transmission efficiency height, be fit to various complex-terrains.
The beneficial effects of the utility model are: the utility model is innovated on traditional four wheel mechanism, six wheel mechanisms and crawler type mechanism basis, compare crawler type mechanism have light weight, motion flexibly, speed is fast, transmission efficiency is high advantage; Compare wheeled robot and have the adaptive advantage of full landform.Make robot combine the advantage of various walking mechanisms, can adapt to different road surfaces.
Description of drawings
Fig. 1 is the utility model robot architecture sketch;
Fig. 2 is the utility model robot frame sketch;
Fig. 3 is the wheeled schematic diagram of mechanism of the utility model;
Fig. 4 a is the utility model overturn arm mechanism sketch;
Fig. 4 b is the utility model robot band overturn arm mechanism sketch;
Fig. 5 a is the utility model four-wheel drive on flat road surface advancing working state schematic representation;
Fig. 5 b is that the utility model class crawler belt six on flat road surface is taken turns with the speed working state schematic representation that travels;
Fig. 5 c is the utility model six wheel drive on flat road surface working state schematic representations that advance;
Fig. 6 is the utility model working state schematic representation when climbing;
Fig. 7 a is the utility model working state schematic representation a when across obstacle;
Fig. 7 b is the utility model working state schematic representation b when across obstacle;
Fig. 7 c is the utility model working state schematic representation c when across obstacle;
Fig. 7 d is the utility model working state schematic representation d when across obstacle;
Fig. 8 a is the utility model working state schematic representation a when crossing over trench;
Fig. 8 b is the utility model working state schematic representation b when crossing over trench;
Fig. 8 c is this utility model working state schematic representation c when crossing over trench;
Fig. 8 d is the utility model working state schematic representation d when crossing over trench;
Fig. 9 a is the utility model working state schematic representation a when stair climbing;
Fig. 9 b is the utility model working state schematic representation b when stair climbing;
Fig. 9 c is the utility model working state schematic representation c when stair climbing;
Fig. 9 d is the utility model working state schematic representation d when stair climbing;
Fig. 9 e is the utility model working state schematic representation e when stair climbing;
Figure 10 is the utility model liter time work schematic diagram of lifting state.
In the drawings: 10, framework; 11, casing; 12, power-supply system; 13, case lid; 20, wheeled mechanism; 21, left front shaft assembly; 22, driving wheel; 23, electric machine assembly; 24, be with synchronously on a left side; 25, left rear axle assembly; 26, driven pulley; 30, overturn arm mechanism; 31, fast connected components; 32, rocking arm housing; 33, flip-arm wheel; 34, drive motors; 35, worm-and-wheel gear; 36, upset arm axle; 37, be with mechanism synchronously; 38, flip-arm axle assembly.
The specific embodiment
With reference to the accompanying drawings 1, a kind of robot running gear of deformable all-terrain adaptable mainly is made up of framework 10, wheeled mechanism 20, overturn arm mechanism 30 etc.
With reference to the accompanying drawings 2, framework 10 mainly is made up of casing 11, power-supply system 12, case lid 13.
Wheeled mechanism 20 is divided into left and right sides two parts, and right wheel part is followed revolver part symmetry fully.With reference to the accompanying drawings 3, partly be example with revolver, the revolver part mainly is made up of driving wheel 22 (the near front wheel), driven pulley 26 (left rear wheel) and driving and transmission mechanism.Driving and transmission mechanism comprise that mainly left front shaft assembly 21 (comprises the output bevel gear, the input synchronous pulley, front axle, sealing ring, bearing shim etc.), electric machine assembly 23 (comprising drive motors, motor reducer, motor encoder, motor driver and input bevel gear etc.), a left side be with 24 synchronously, left rear axle assembly 25 (comprising output synchronous pulley, rear axle, pad back-up ring, bearing, sealing ring etc.).
4a with reference to the accompanying drawings, overturn arm mechanism 30 mainly is made up of fast connected components 31, rocking arm housing 32 (in the housing by synchronous belt drive mechanism with transmission of power to flip-arm wheel 33), flip-arm wheel 33.4b with reference to the accompanying drawings, the driving of overturn arm mechanism 30 and transmission mechanism are mainly by drive motors 34, worm-and-wheel gear 35, upset arm axle 36, be with mechanism 37, flip-arm axle assembly 38 to form synchronously.
Various attitudes of the utility model robot and adaptation road surface are as follows:
(1) flat road surface
When walking on flat road surface, can unload down connecing overturn arm mechanism 30 soon, four-wheel drive is advanced as Fig. 5 a; Before and after perhaps flip-arm being recovered between the two-wheeled, six take turns with speed and travel, and as Fig. 5 b, perhaps it are stretched the place ahead, slightly contact with ground, play the supplemental support effect or as Fig. 5 c.According to operational circumstances different use different modes guaranteed the utility model robot on flat road surface flexibly, stable and move fast.
(2) climbing
When climbing, the centre of two-wheeled contacted with the road surface before and after flip-arm was positioned at, and played the supplemental support effect, and experiment shows that the slope more than 35 ° can be climbed by the utility model robot.As shown in Figure 6.
(3) vertical obstacle detouring
When running into the barrier that can cross over, flip-arm upwards lifts, and supports on the upper surface of barrier, supports robot and makes it front-wheel and lift, on vehicle body is walked barrier.Shown in Fig. 7 a～7d.Experiment showed, that the utility model robot can cross over the vertical barrier greater than 180mm.
(4) cross over trench
When robot ran into trench, flip-arm was upwards regained, when arriving the trench edge to front-wheel, flip-arm is rotated down, when flip-arm is taken another edge of trench, Yi Bian robot walks forward, adjust the flip-arm attitude on one side, straight until robot, safety strides across a trench.Shown in Fig. 8 a～8d.Experiment showed, that the utility model robot can cross over the trench of 300mm.
(5) speeling stairway
When robot runs into stair, flip-arm is upwards regained, made it to contact, support robot car body, make it to climb up first order step with the stair inclined-plane; Between the two-wheeled, contact with the stair inclined-plane before and after subsequently flip-arm being recovered to, play the supplemental support effect, stair climbed up reposefully by the assurance robot.Shown in Fig. 9 a～9e.Experiment showed, that the utility model robot can climb up the stair of 30 ° of gradients.
(6) liter is lifted
Flip-arm is overturn forward, and to ground, lift at the rear portion, robot can be raise, and is convenient to the barrier (as wall) by being higher than robot car body, environment of observation until its horizontal support.As shown in figure 10.
Rely on overturn arm mechanism to adopt the mode of different attitudes, make the walking mechanism of the utility model robot can be rendered as attitudes such as four-wheel, six is taken turns, class crawler type, have the modal changeability of mechanism, combine wheeled and advantage caterpillar type robot: fast, light, full landform adaptation etc. flexibly.
More than be diagram and the description of the utility model technology embodiment, under the situation that does not depart from principle of the present utility model and essence, can change embodiment.
Claims (5)
1. the robot running gear of a deformable all-terrain adaptable comprises framework, wheeled mechanism and overturn arm mechanism, it is characterized in that: described wheeled mechanism adopts front-wheel drive, trailing wheel to adopt the four wheel mechanism of band drive synchronously; The wheeled mechanism of left and right side uses a motor-driven respectively; The synchronous band that connects front driving wheel and back driven pulley is encapsulated within the robot cavity; Has an overturn arm mechanism that can adopt fast connected components to be installed to wheeled mechanism both sides, described overturn arm mechanism is by fast connected components; rocking arm housing and flip-arm wheel is formed; the driving of overturn arm mechanism and transmission mechanism are by drive motors; worm-and-wheel gear; the upset arm axle; be with mechanism and flip-arm axle assembly to form synchronously; an end of rocking arm housing connects the flip-arm wheel by the flip-arm axle assembly; the other end of rocking arm housing is provided with fast connected components; and be connected in the synchronous band mechanism of flip-arm axle head head of driving wheel one side by it, drive overturn arm mechanism by drive motors and worm-and-wheel gear and move.
2. the robot running gear of a kind of deformable all-terrain adaptable according to claim 1, it is characterized in that: described overturn arm mechanism can be around its 360 ° of rotations of arm axle of overturning, and can be positioned to realize the changeability of robot running gear form with this on any angular position.
3. the robot running gear of a kind of deformable all-terrain adaptable according to claim 1 and 2, it is characterized in that: described driving wheel, driven pulley and flip-arm size of wheel are identical, in the time of in the middle of flip-arm is positioned at driving wheel and driven pulley, the flip-arm wheel lands, become driven pulley, entire mechanism becomes the class pedrail mechanism that adapts to rugged ground and stair.
4. the robot running gear of a kind of deformable all-terrain adaptable according to claim 1 and 2, it is characterized in that: overturn arm mechanism can be stretched driving wheel the place ahead, forms expansion six wheel mechanisms that adapt to gully and bringing onto load stabilized walking.
5. the robot running gear of a kind of deformable all-terrain adaptable according to claim 1 and 2, it is characterized in that: described robot moves main dependence four wheel mechanism, and overturn arm mechanism plays synkinesia and makes deformation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202268638U CN201760877U (en) | 2010-06-13 | 2010-06-13 | Deformable robot travelling mechanism suitable for all landforms |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010202268638U CN201760877U (en) | 2010-06-13 | 2010-06-13 | Deformable robot travelling mechanism suitable for all landforms |
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| CN201760877U true CN201760877U (en) | 2011-03-16 |
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| CN2010202268638U Expired - Lifetime CN201760877U (en) | 2010-06-13 | 2010-06-13 | Deformable robot travelling mechanism suitable for all landforms |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890986A (en) * | 2010-06-13 | 2010-11-24 | 上海中为智能机器人有限公司 | Deformable all-terrain adaptable robot walking mechanism |
| CN102514640A (en) * | 2011-12-07 | 2012-06-27 | 宁波大学 | Deformable rescue robot |
| CN102636365A (en) * | 2012-04-12 | 2012-08-15 | 东南大学 | Experimental device for ground adaption capability of nucleated reconnaissance robot |
| CN103204189A (en) * | 2013-05-01 | 2013-07-17 | 刘伟华 | Aiding machine for urgent surgical treatment |
| CN104097502A (en) * | 2013-04-11 | 2014-10-15 | 苏州科瓴精密机械科技有限公司 | Robot travelling mechanism |
| CN104354786A (en) * | 2014-11-11 | 2015-02-18 | 保定金迪科学仪器有限公司 | Patrol check device for detecting defects of cavity of wind power generation blade |
| CN105902346A (en) * | 2016-05-25 | 2016-08-31 | 张家港市仁和医疗器械有限公司 | All-terrain mobility scooter for the disabled |
| CN107031744A (en) * | 2017-06-02 | 2017-08-11 | 赵雪虎 | A kind of full landform mobile charging stake of auto-navigation |
| CN108748178A (en) * | 2018-06-10 | 2018-11-06 | 上海钧工机器人有限公司 | A kind of clearance intelligent robot system |
| CN109199246A (en) * | 2018-10-15 | 2019-01-15 | 湖南格兰博智能科技有限责任公司 | A kind of certainly mobile sweeping robot obstacle detouring driving wheel group |
| CN109677507A (en) * | 2019-01-04 | 2019-04-26 | 南开大学 | A kind of rolling wheeled robot chassis |
| CN112249588A (en) * | 2020-09-27 | 2021-01-22 | 苏州品超智能设备有限公司 | Support carrying robot and using method |
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2010
- 2010-06-13 CN CN2010202268638U patent/CN201760877U/en not_active Expired - Lifetime
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890986A (en) * | 2010-06-13 | 2010-11-24 | 上海中为智能机器人有限公司 | Deformable all-terrain adaptable robot walking mechanism |
| CN102514640A (en) * | 2011-12-07 | 2012-06-27 | 宁波大学 | Deformable rescue robot |
| CN102514640B (en) * | 2011-12-07 | 2013-11-06 | 宁波大学 | Deformable rescue robot |
| CN102636365A (en) * | 2012-04-12 | 2012-08-15 | 东南大学 | Experimental device for ground adaption capability of nucleated reconnaissance robot |
| CN104097502A (en) * | 2013-04-11 | 2014-10-15 | 苏州科瓴精密机械科技有限公司 | Robot travelling mechanism |
| CN103204189A (en) * | 2013-05-01 | 2013-07-17 | 刘伟华 | Aiding machine for urgent surgical treatment |
| CN103204189B (en) * | 2013-05-01 | 2015-11-18 | 魏长月 | Surgery emergency assistive device |
| CN104354786B (en) * | 2014-11-11 | 2017-02-01 | 保定金迪科学仪器有限公司 | Patrol check device for detecting defects of cavity of wind power generation blade |
| CN104354786A (en) * | 2014-11-11 | 2015-02-18 | 保定金迪科学仪器有限公司 | Patrol check device for detecting defects of cavity of wind power generation blade |
| CN105902346A (en) * | 2016-05-25 | 2016-08-31 | 张家港市仁和医疗器械有限公司 | All-terrain mobility scooter for the disabled |
| CN105902346B (en) * | 2016-05-25 | 2018-05-15 | 张家港市仁和医疗器械有限公司 | A kind of full landform scooter of disabled person |
| CN107031744A (en) * | 2017-06-02 | 2017-08-11 | 赵雪虎 | A kind of full landform mobile charging stake of auto-navigation |
| CN107031744B (en) * | 2017-06-02 | 2019-04-19 | 新昌县联航机械有限公司 | A kind of full landform mobile charging stake of auto-navigation |
| CN108748178A (en) * | 2018-06-10 | 2018-11-06 | 上海钧工机器人有限公司 | A kind of clearance intelligent robot system |
| CN109199246A (en) * | 2018-10-15 | 2019-01-15 | 湖南格兰博智能科技有限责任公司 | A kind of certainly mobile sweeping robot obstacle detouring driving wheel group |
| CN109677507A (en) * | 2019-01-04 | 2019-04-26 | 南开大学 | A kind of rolling wheeled robot chassis |
| CN109677507B (en) * | 2019-01-04 | 2020-05-19 | 南开大学 | Chassis of rolling wheel type robot |
| CN112249588A (en) * | 2020-09-27 | 2021-01-22 | 苏州品超智能设备有限公司 | Support carrying robot and using method |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110316 Effective date of abandoning: 20120104 |