CN201800805U - Changeable-shape and multidirectional-drive type moving mechanism for rescue robot - Google Patents
Changeable-shape and multidirectional-drive type moving mechanism for rescue robot Download PDFInfo
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- CN201800805U CN201800805U CN2009202150313U CN200920215031U CN201800805U CN 201800805 U CN201800805 U CN 201800805U CN 2009202150313 U CN2009202150313 U CN 2009202150313U CN 200920215031 U CN200920215031 U CN 200920215031U CN 201800805 U CN201800805 U CN 201800805U
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Abstract
The utility model relates to a changeable-shape and multidirectional-drive type moving mechanism for a rescue robot. The moving mechanism comprises a shape changing mechanism, a crawler type moving mechanism, a connecting mechanism used for connecting the crawler type moving mechanism with the shape changing mechanism, and a telescopic support bar mechanism. The shape changing mechanism comprises five surfaces, and each surface can be unfolded freely, so that the shape of the moving mechanism is accordingly changed by unfolding or folding up the surfaces of the shape changing mechanism according to the road conditions; crawler type moving units are arranged on the five surfaces of the shape changing mechanism respectively, so that the robot can move no matter which surface is contacted with the ground; and the crawler type moving units and the surfaces of the shape changing mechanism can rotate relatively for allowing the robot to change the motion direction freely and realize the multidirectional drive. The moving mechanism has the functions of going upstairs and downstairs, getting across barriers without falling over, getting out of a pit, and the like; and the moving mechanism can change the shape according to the road conditions, and can select the quantity of drive wheels according to the practical road conditions and the requirements on drive power.
Description
Technical field
The utility model relates to the travel mechanism of a kind of shape variable/multi-faceted driving relief humanoid robot, belongs to the advanced manufacturing technology field.
Background technology
In view of the particularity of robot for rescue applied environment, special requirement must be proposed to its critical nature.The ability of walking under the abominable road conditions such as in order to make it can be competent at rescue work, it must have very strong locomitivity, and promptly must have can be such as ruins, and bumpy and small space is interior.And the most important part of giving these abilities of robot for rescue is exactly the travel mechanism of robot.Travel mechanism is the mobile vehicle of disaster relief robot.The travel mechanism of disaster relief robot should be able to adapt to various geographical environments, and has certain climbing ability and clear an obstacle ability.In addition, also need good attitude stability, requirements such as certain moving velocity and low energy consumption.The travel mechanism of existing robot for rescue mainly contains: no limb motion (based on serpentine locomotion), and great-jump-forward, wheeled, leg formula, wheel leg type and crawler type etc.It is good that snake-shaped robot has stability of motion, the characteristics such as tractive force that the adaptation to the ground ability is strong and high, but multivariant control is difficult, and kinematic velocity is low; Obstacle or irrigation canals and ditches that hop robot can be jumped over and be several times as much as oneself height have stronger adaptive faculty to landform, but skip motion at first needs to overcome the self gravitation influence, and soar and the stage kinetics equation complexity of contacting to earth, and balance is difficult to control; Wheeled robot has simple in structure, and is in light weight, characteristics such as the little and mechanical efficiency height of wheeled rolling frictional resistance, but cross irrigation canals and ditches, the ability of step; Legged mobile robot has the strong characteristics of adaptation to the ground ability, can cross big ditch and step, and its shortcoming is a poor stability, and speed is slow; The wheel leg type robot merges the landform adaptive capacity of leg formula mechanism and the high-speed and high-efficiency performance of wheeled mechanism, and its shortcoming is the structure relative complex; Caterpillar type robot landform adaptive capacity is strong, but will cross big ditch, and it is very big that the size of self will be done, and energy consumption is big.In the disaster scene of the accident, because searching route is neither fixing very complicated again, all may there be the geometrical constraint of extruding in the space all directions, and do not have fixing restriction mode, this will cry for help and help robot must have multiple flexible movement mechanism, can adapt to different environment.
At present, domestic robot for rescue of having researched and developed various travel mechanisms.As: a kind of snake-shaped robot that drives by memory alloy spring, make all around, turning motion by heating, cooling memorial alloy drive machines people.This robot can not upper and lower step, can not be smoothly by pit and big slightly irrigation canals and ditches (Xie Zhongning, Zhao Lijuan, the Sui Xin of size, Yuan Yuefeng, Han Xia, Bao Yuxin, Pan Hongge. a kind of snake-shaped robot. national patent property right office of the People's Republic of China (PRC), 02109369.5,2002.03.27.).The outstanding characteristics of " clever lizard " serial robot that Chinese Academy of Sciences's Shenyang Institute of Automation was released later in 2003 be adopt wheel-leg-crawler composite moving mechanism (Wang Chaoyue. China's dangerous school assignment robot is researched and developed and is made further progress. Robotics and application, 2005,06:11-14,18.), when climbing, stair climbing, obstacle detouring, robot adopts the crawler belt move mode; When smooth ground, robot adopts the wheel move mode.This robot can be selected different travel mechanisms according to road conditions, but can not realize multi-faceted moving.
The structure of the relief humanoid robot of the shape variable that the utility model proposes/multi-faceted driving, have the advantage of pedrail mechanism and snakelike mechanism concurrently, it can be according to the situation at disaster scene, change the shape of its mechanism, realize multi-faceted moving, thus the walking on the abominable road surfaces such as competent rubble, ruins.The travel mechanism that lacks such relief humanoid robot at present.
The utility model content
The purpose of this utility model is to provide the travel mechanism of a kind of shape variable/multi-faceted driving relief humanoid robot.Overcome the balance that exists in the existing mechanism effectively and be difficult to control, cross irrigation canals and ditches, the problems such as disaster relief scene that the ability of step, self size be big, be difficult to adapt to abominable road surface (rubble, ruins).
Realize above-mentioned utility model purpose the utility model by the following technical solutions:
The travel mechanism of a kind of shape variable/multi-faceted driving relief humanoid robot, the coupling mechanism and the contraction type strut bar mechanism that comprise alteration of form mechanism, crawler type travel mechanism, crawler type travel mechanism and alteration of form mechanism, described alteration of form mechanism comprises a longitudinal plane of symmetry and is distributed in four sides around the longitudinal plane of symmetry, and four sides are connected with pivotal block on the longitudinal plane of symmetry by pivot respectively; The rotation around pivot is realized by corresponding driving motor individual drive in the drive motor group that is located on the longitudinal plane of symmetry in each side; Described crawler type travel mechanism comprises five identical crawler type mobile units, each crawler type mobile unit comprises two drive motor, two crawler belts, track sprocket and crawler belt degrees of tightness adjustment wheels, the track sprocket of each crawler belt mobile unit is respectively by corresponding driving motor individual drive in described two drive motor, with independent rotation and the rotation simultaneously that realizes two crawler belts on each crawler type mobile unit; The coupling mechanism of described crawler type travel mechanism and alteration of form mechanism comprises five connection units, each connection unit comprises adapter shaft and drive motor, the center of the longitudinal plane of symmetry of described alteration of form mechanism connects with the center of crawler type mobile unit by the adapter shaft in the connection unit, each crawler type mobile unit realizes that by the drive motor individual drive of cooresponding connection unit the crawler type mobile unit rotates with respect to the face of its bonded assembly alteration of form mechanism; Described contraction type strut bar mechanism comprises shrinks strut bar and is used to drive the flexible drive motor of strut bar, with described four sides in described contraction strut bar all is installed on the joining crawler type mobile unit in adjacent two sides, shrink strut bar, be positioned on the crawler type mobile unit a side away from longitudinal plane of symmetry.
The travel mechanism of above-mentioned a kind of shape variable/multi-faceted driving relief humanoid robot, the longitudinal plane of symmetry of described alteration of form mechanism is a square, pivotal joint is passed through with this foursquare four edges respectively in four sides, four sides and longitudinal plane of symmetry bonded assembly limit are called the base, and the length on base is equal to the described foursquare length of side.
In the travel mechanism of above-mentioned a kind of shape variable/multi-faceted driving relief humanoid robot, the shape of four sides is identical, in each side, the opposite side on base is a circular arc, with the base of four sides is the center that the foursquare center of the length of side is called four sides, and four equal green phases in center answer the adapter shaft in the connection unit to connect with the center of a crawler type mobile unit.
The travel mechanism of above-mentioned a kind of shape variable/multi-faceted driving relief humanoid robot, each crawler type mobile unit is connected by the adapter shaft in the connection unit with the center of the face of its place alteration of form mechanism.
In the travel mechanism of above-mentioned a kind of shape variable/multi-faceted driving relief humanoid robot, the travel mechanism that succours humanoid robot when shape variable/multi-faceted driving shortens cube into, be five faces of alteration of form mechanism when surrounding cube, described longitudinal plane of symmetry is positioned at cubical bottom surface.
In the travel mechanism of above-mentioned a kind of shape variable/multi-faceted driving relief humanoid robot, around the rotation of corresponding pivot, the angular range of rotation is 0 °～110 ° under corresponding motor drives in each side.
The utility model possesses following innovative point and advantage with respect to prior art:
1. adopt the track propulsion travel mechanism of shape variable, it is little, in light weight to have a volume, has the characteristics of snake-shaped robot and track propulsion robot concurrently.Each crawler belt is selected the drive motor number respectively by the motor individual drive according to pavement conditions, so just can save the energy; The revolution action realizes multi-faceted driving when also having realized simultaneously a plurality of crawler belt, makes it can be smooth, stably finishes the work.
2. can be according to condition of road surface, open each face, change the shape of travel mechanism, all right and crawler belt part coordination, be implemented in road conditions walking such as rubble, ruins: on level land and more smooth road, shape variable/multi-faceted driving relief humanoid robot shortens small cubes into and walks; Narrow, short place, according to the shape and the size of lane, travel mechanism's change shape is extended into slender type and passes through; On, shape variable when getting out of a predicament or an embarrassing situation/multi-faceted driving relief humanoid robot travel mechanism is can generate snakelike, and several crawler belts drive simultaneously, finish the work; The place that pit is arranged when the travel mechanism of shape variable/multi-faceted driving relief humanoid robot supports the two ends, cave, drives crawler belt, opens bearing surface, makes it from the cave, deviates from the pit; Throwing over barrier; Be not afraid of and tumble and overturn, no matter its which face contacts with ground, can both normally move, but need not return to walking surface, also can and drive the number that power requires to select drive wheel according to actual road surface situation, make it satisfying under the prerequisite that motion requires, and saves the energy.
Description of drawings
Fig. 1 is the constitution diagram that the travel mechanism of shape variable/multi-faceted driving relief humanoid robot is contracted to hour;
Fig. 2 is the constitution diagram of travel mechanism's full expand of shape variable/multi-faceted driving relief humanoid robot;
Fig. 3 is that the travel mechanism of shape variable/multi-faceted driving relief humanoid robot enters the scheme drawing in narrow place;
Fig. 4, Fig. 5, Fig. 6 are the scheme drawings that continues cruising after the travel mechanism of shape variable/multi-faceted driving relief humanoid robot tumbles in the place that drop is arranged, overturns;
Fig. 7 is that the scheme drawing of step is climbed by the travel mechanism of shape variable/multi-faceted driving relief humanoid robot in moving process;
Fig. 8 is a scheme drawing of crossing over irrigation canals and ditches in travel mechanism's moving process of shape variable/multi-faceted driving relief humanoid robot;
Fig. 9 is the scheme drawing that comes out from pit in travel mechanism's moving process of shape variable/multi-faceted driving relief humanoid robot.
Figure 10 is the scheme drawing when climbing the slope in travel mechanism's moving process of shape variable/multi-faceted driving relief humanoid robot.
Figure 11 is the scheme drawing from the back-off recovering state to cruising in travel mechanism's moving process of shape variable/multi-faceted driving relief humanoid robot.
The specific embodiment
Connecting the drawings and specific embodiments below is described in further detail content of the present utility model.
The progressive more below travel mechanism of describing a kind of shape variable of the present utility model/multi-faceted driving relief humanoid robot, four sides are connected with pivotal block on the longitudinal plane of symmetry by pivot respectively; The rotation around pivot is realized by corresponding driving motor individual drive in the drive motor group that is located on the longitudinal plane of symmetry in each side, launches as required, closes, change shape; Described crawler type travel mechanism comprises five identical crawler type mobile units, each crawler type mobile unit comprises two drive motor, two crawler belts, track sprocket and crawler belt degrees of tightness adjustment wheels, wherein every crawler belt can be realized moving and rotating of mechanism by the motor individual drive by two track speed differences; The coupling mechanism of described crawler type travel mechanism and alteration of form mechanism comprises five connection units, each connection unit comprises bindiny mechanism and drive motor, the center of the longitudinal plane of symmetry of described alteration of form mechanism connects with the center of crawler type mobile unit by the bindiny mechanism in the connection unit, bindiny mechanism is installed on 5 faces of alteration of form mechanism, one end links to each other with crawler belt travel mechanism, through attachment face, the other end links to each other with drive motor, each bindiny mechanism is by the motor independent drive, make the crawler belt travel mechanism that is installed on each face, can rotate with respect to this face, realize the shape variable/walking of multi-faceted driving relief humanoid robot on any direction of road surface; Described contraction type strut bar mechanism comprises strut bar and drive motor group, is positioned on the connecting panel of the panel of alteration of form mechanism and crawler type mobile unit, and auxiliary alteration of form mechanism of this mechanism finishes rotary movement.Each crawler type mobile unit has sufficient reasonably space in mobile and rotating process, adjacent crawler type mobile unit can not bump and conflict.
Referring to Fig. 1, Fig. 2, the structure of the travel mechanism of a kind of shape variable/multi-faceted driving relief humanoid robot comprises: the coupling mechanism 3 and the contraction type strut bar mechanism 4 of alteration of form mechanism 1, crawler type travel mechanism 2, crawler type travel mechanism 2 and alteration of form mechanism.Wherein alteration of form mechanism is by longitudinal plane of symmetry 5, side (comprising first side 6, second side 7, the 3rd side 8, the 4th side 9), and pivot (10,11,12,13) and drive motor group (501,502,503,504) thereof are formed.Pivot (10 is passed through with longitudinal plane of symmetry 5 respectively in first side 6, second side 7, the 3rd side 8, the 4th side 9,11,12,13) link to each other, each side is by corresponding driving motor individual drive in the drive motor group that is located on the longitudinal plane of symmetry, realization makes five faces can independently open or close change shape around the rotation of pivot as required.Described crawler type travel mechanism 2 comprises five identical crawler type mobile units.Each crawler type mobile unit comprises that each crawler type mobile unit comprises two drive motor, two crawler belts, track sprocket (21,19,23) and crawler belt degrees of tightness adjustment wheels (24,26,28).Every crawler belt both can rotate simultaneously by motor-driven, again can independent rotation, can realize the moving and rotating of travel mechanism of shape variable/multi-faceted driving relief humanoid robot by two track speed differences.On five faces of alteration of form mechanism, by coupling mechanism crawler type travel mechanism is installed respectively, each coupling mechanism is by the motor individual drive, make crawler type travel mechanism can arbitrarily angledly rotate, and then change the sense of motion of shape variable/multi-faceted driving relief humanoid robot with respect to its attachment face.Shrink strut bar (401,402) all installing, shrink strut bar (401,402) and be positioned on the crawler type mobile unit a side away from longitudinal plane of symmetry 5 with the 3rd side 8 and the 4th side 9 joining crawler type mobile units.
Referring to Fig. 3, the travel mechanism of the shape variable that the utility model proposes/multi-faceted driving relief humanoid robot can enter narrow place, space (less as the entrance, in the bigger collapsed house in inner space etc.).At this moment, shape and size according to lane, (controller has for existing machine the controller that is used to control alteration of form mechanism 1 in the control system of shape variable/multi-faceted driving relief humanoid robot per capita, this part does not belong to technical matters to be solved of the present utility model) according to the order of motion controller, make drive motor 501,502,503,504 in the alteration of form mechanism 1 control the angle that launch first side 6, second side 7, the 3rd side 8, the 4th side 9 respectively, to realize change shape; Simultaneously, controller makes the drive motor of each connection unit in the coupling mechanism 3 drive adapter shaft 301 rotations according to the order of motion controller, drives the rotation of crawler type mobile unit, to realize the crawler belt direction unanimity in each crawler type mobile unit.Then by being used to control the order of controller that the crawler type mobile unit moves in the control system according to motion controller, make the drive motor of the crawler type mobile unit on longitudinal plane of symmetry 5, first side 6, second side 7, the 3rd side 8, the 4th side 9 drive crawler belt (14,15,16,17,18), make it pass through narrow place.At this moment, as required, can drive longitudinal plane of symmetry 5, first side 6,8 three faces in the 3rd side, also can drive five faces.
Referring to Fig. 4, Fig. 5, Fig. 6, the travel mechanism of the shape variable that the utility model proposes/multi-faceted driving relief humanoid robot is not afraid of and tumbles upset.As shown in Figure 4, the longitudinal plane of symmetry 5 of the travel mechanism of this shape variable/multi-faceted driving relief humanoid robot, first side 6, second side 7, the 3rd side 8, on the 4th side 9 track driving mechanism is installed all, the local overturning of drop is arranged from step etc., no matter which face of five faces contacts with ground, be used to control of the order of the controller of alteration of form mechanism 1 in the control system by shape variable/multi-faceted driving relief humanoid robot according to motion controller, make the drive motor of the connection unit on this face drive the adapter shaft rotation, drive crawler type mobile unit rotates to and is easy to travel direction, control the order of controller that the crawler type mobile unit moves by being used in the control system then according to motion controller, make with face that ground contacts on the crawler type mobile unit in drive motor control caterpillar drive in this crawler type mobile unit, make the travel mechanism of shape variable/multi-faceted driving relief humanoid robot can continue cruising, do not need to return to movable posture.As shown in Figure 5, even have the local overturning of drop to become posture shown in Figure 5 from step etc., the travel mechanism of this shape variable/multi-faceted driving relief humanoid robot also can cruising.As shown in Figure 6, if longitudinal plane of symmetry 5 is last, the side of crawler belt (15,16,17,18) contacts with ground, crawler type mobile unit on first side 6, second side 7, the 3rd side 8, the 4th side 9 is rotated to be easy to travel direction, drive crawler belt (15,16,17,18) again, can cruising thereby make shape variable/multi-faceted driving succour the travel mechanism of humanoid robot.
Referring to Fig. 7, the travel mechanism of this shape variable/multi-faceted driving relief humanoid robot can upper and lower step.This moment, travel mechanism can be launched into snakelike, control of the order of the controller of alteration of form mechanism 1 by being used in the control system according to motion controller, make the drive motor 502 in the alteration of form mechanism 1,504 controls, second side 7, the angle that launch the 4th side 9, make longitudinal plane of symmetry 5 simultaneously, second side 7, drive motor in the connection unit on the 4th side 9 drives the adapter shaft rotation, thereby controlling cooresponding crawler type mobile unit rotates to and is easy to travel direction, being used in the control system controlled the instruction according to motion controller of controller that the crawler type mobile unit moves then, make longitudinal plane of symmetry 5, second side 7, the drive motor of the crawler type mobile unit on the 4th side 9 drives crawler belt, can finish the work.
Referring to Fig. 8, the nullah (as the house collapse that is caused by disasters such as earthquakes, furniture overturning, the irrigation canals and ditches that crack, ground etc. form) above self size can be crossed by the travel mechanism of this shape variable/multi-faceted driving relief humanoid robot.Snakelike or the arch according to the actual conditions generate can be crossed the irrigation canals and ditches above self size.When travel mechanism's generate of this shape variable/multi-faceted driving relief humanoid robot is snakelike, being used in the control system controlled the order of the controller of alteration of form mechanism 1 according to motion controller, make drive motor 502,504 controls second side 7 in the alteration of form mechanism 1, the angle that launch the 4th side 9, simultaneously control the instruction of controller that the crawler type mobile unit moves according to motion controller by being used in the control system, make the drive motor of the crawler type mobile unit on longitudinal plane of symmetry 5, second side 7, the 4th side 9 drive crawler belt, contact with ground and travel; When the generate arch of this shape variable/multi-faceted driving relief humanoid robot, select second side 7, the 4th side 9 or first side 6, the 3rd side 8, under these two kinds different face array modes, longitudinal plane of symmetry 5 is elevated, the contact of discord ground, so need not drive longitudinal plane of symmetry 5, so just can energy savings.
Referring to Fig. 9, the travel mechanism of this shape variable/multi-faceted driving relief humanoid robot can come out from pit if be absorbed in pit.At this moment, according to the actual conditions at scene, select one of longitudinal plane of symmetry 5, second side 7, the 4th side 9 or longitudinal plane of symmetry 5, first side 6, the 8 two kinds of face array modes in the 3rd side.At first control the instruction of controller that the crawler type mobile unit moves according to motion controller by being used in the control system, make the drive motor in the connection unit drive the adapter shaft rotation, thereby control crawler type mobile unit rotates to it and is easy to travel direction, control of the order of the controller of alteration of form mechanism 1 by being used in the control system again according to motion controller, make the drive motor 502 in the alteration of form mechanism 1,504 or 501,503 controls, second side 7, the 4th side 9 or first side 6, launch the 3rd side 8, support the two ends of pit, simultaneously by being used to control controller drives second side 7 that the crawler type mobile unit moves in the control system of shape variable/multi-faceted driving relief humanoid robot, the 4th side 9 or first side 6, the drive motor of the crawler type mobile unit on the 3rd side 8, drive the crawler belt on the side, it is come out from pit.
Referring to Figure 10, the travel mechanism of this shape variable/multi-faceted driving relief humanoid robot has the certain climbing ability.When climbing, for avoiding the too high overturning of center of gravity, all launch the longitudinal plane of symmetry 5 of the alteration of form mechanism 1 of this travel mechanism, first side 6, second side 7, the 3rd side 8, the 4th side 9, and center-of-gravity position is reduced.Can also select to drive the crawler belt number this moment according to gradient size and propulsive effort requirement.Promptly control controller that the crawler type mobile unit moves and drive crawler belt according to the drive motor that the instruction of motion controller makes three faces (longitudinal plane of symmetry 5, first side 6, the 3rd side 8 or longitudinal plane of symmetry 5, second side 7, the 4th side 9) go up the crawler type mobile unit by being used in the control system; The drive motor that also can make five faces (longitudinal plane of symmetry 5, first side 6, second side 7, the 3rd side 8, the 4th side 9) go up the crawler type mobile unit drives crawler belt, guarantees that it passes through the slope reposefully.
Referring to Figure 11, if the longitudinal plane of symmetry 5 of alteration of form mechanism 1 up, first side 6, second side 7, the 3rd side 8, the crawler belt side of the crawler type mobile unit on the 4th side 9 contacts with ground, the travel mechanism that is shape variable/multi-faceted driving relief humanoid robot becomes the back-off state on the ground, if return to normal walking states, this travel mechanism can utilize control system to drive the drive motor of contraction type strut bar mechanism 4, thereby drive the strut bar (401 or 402) on the crawler type mobile unit side, stretch out a strut bar (401 or 402), one side of travel mechanism is supported, simultaneously controlling controller that the crawler type mobile unit moves by being used in the control system makes the drive motor of the crawler type mobile unit on the 3rd side 8 or the 4th side 9 drive the crawler belt that contacts with ground according to the instruction of motion controller, can make robot be turned to normal condition, i.e. longitudinal plane of symmetry 5 and ground state of contact.
Claims (6)
1. the travel mechanism of humanoid robot is succoured in shape variable/multi-faceted driving, it is characterized in that comprising the coupling mechanism (3) and the contraction type strut bar mechanism (4) of alteration of form mechanism (1), crawler type travel mechanism (2), crawler type travel mechanism (2) and alteration of form mechanism (1), described alteration of form mechanism (1) comprises a longitudinal plane of symmetry (5) and is distributed in four sides (6,7,8,9) around the longitudinal plane of symmetry, and four sides all are connected with pivotal block on the longitudinal plane of symmetry by pivot (10,11,12,13); The rotation around pivot is realized by corresponding driving motor individual drive in the drive motor group (501,501,503,504) that is located on the longitudinal plane of symmetry in each side; Described crawler type travel mechanism (2) comprises five identical crawler type mobile units, each crawler type mobile unit comprises two drive motor, two crawler belts (16), track sprocket (21) and crawler belt degree of tightness adjustment wheels (26), the track sprocket of each crawler belt mobile unit is respectively by corresponding driving motor individual drive in described two drive motor, with independent rotation and the rotation simultaneously that realizes two crawler belts on each crawler type mobile unit; Described crawler type travel mechanism (2) comprises five connection units with the coupling mechanism (3) of alteration of form mechanism (1), each connection unit comprises adapter shaft (301) and drive motor, the center of the longitudinal plane of symmetry (5) of described alteration of form mechanism (1) connects with the center of crawler type mobile unit by the adapter shaft (301) in the connection unit, each crawler type mobile unit realizes that by the drive motor individual drive of cooresponding connection unit the crawler type mobile unit rotates with respect to the face of its bonded assembly alteration of form mechanism (1); Described contraction type strut bar mechanism (4) comprises shrinks strut bar (401,402) and is used to drive the flexible drive motor of strut bar, with described four sides in described contraction strut bar (401 all is installed on the joining crawler type mobile unit in adjacent two sides (8,9), 402), shrink strut bar (401,402), be positioned on the crawler type mobile unit a side away from longitudinal plane of symmetry (5).
2. the travel mechanism of a kind of shape variable according to claim 1/multi-faceted driving relief humanoid robot, the longitudinal plane of symmetry (5) that it is characterized in that described alteration of form mechanism (1) is square, four sides (6,7,8,9) are connected by pivot (10,11,12,13) with this foursquare four edges respectively, four sides (6,7,8,9) are called the base with longitudinal plane of symmetry (5) bonded assembly limit, and the length on base is equal to the described foursquare length of side.
3. the travel mechanism of a kind of shape variable according to claim 2/multi-faceted driving relief humanoid robot, the shape that it is characterized in that four sides (6,7,8,9) is identical, in each side, the opposite side on base is a circular arc, with the base of four sides is the center that the foursquare center of the length of side is called four sides, and four equal green phases in center answer the adapter shaft in the connection unit to connect with the center of a crawler type mobile unit.
4. the travel mechanism of a kind of shape variable according to claim 3/multi-faceted driving relief humanoid robot is characterized in that each crawler type mobile unit is connected by the adapter shaft in the connection unit (301) with the center of the face of its place alteration of form mechanism (1).
5. the travel mechanism of a kind of shape variable according to claim 4/multi-faceted driving relief humanoid robot, it is characterized in that shortening cube into when the travel mechanism of shape variable/multi-faceted driving relief humanoid robot, be five faces of alteration of form mechanism (1) when surrounding cube, described longitudinal plane of symmetry is positioned at cubical bottom surface.
6. according to the travel mechanism of each described a kind of shape variable of claim 1～5/multi-faceted driving relief humanoid robot, it is characterized in that each side rotates around corresponding pivot under corresponding motor drives, the angular range of rotation is 0 °～110 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2009202150313U CN201800805U (en) | 2009-12-31 | 2009-12-31 | Changeable-shape and multidirectional-drive type moving mechanism for rescue robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009202150313U CN201800805U (en) | 2009-12-31 | 2009-12-31 | Changeable-shape and multidirectional-drive type moving mechanism for rescue robot |
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| CN201800805U true CN201800805U (en) | 2011-04-20 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102514640A (en) * | 2011-12-07 | 2012-06-27 | 宁波大学 | Deformable rescue robot |
| CN103963860A (en) * | 2014-03-31 | 2014-08-06 | 刘建 | Differential connecting rod type crawler chassis of robot |
-
2009
- 2009-12-31 CN CN2009202150313U patent/CN201800805U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103963860A (en) * | 2014-03-31 | 2014-08-06 | 刘建 | Differential connecting rod type crawler chassis of robot |
| CN103963860B (en) * | 2014-03-31 | 2019-04-19 | 新昌县科博机械有限公司 | A kind of robot differential type link-type crawler body |
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