CN201971077U - Combined moving mechanism of robot - Google Patents
Combined moving mechanism of robot Download PDFInfo
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- CN201971077U CN201971077U CN2010206581180U CN201020658118U CN201971077U CN 201971077 U CN201971077 U CN 201971077U CN 2010206581180 U CN2010206581180 U CN 2010206581180U CN 201020658118 U CN201020658118 U CN 201020658118U CN 201971077 U CN201971077 U CN 201971077U
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Abstract
The utility model relates to a combined moving mechanism of a robot. Two parallel main shafts are arranged at the bottom of a robot body, each main shaft is provided with a main motor, two ends of each main shaft are respectively provided with a cross-shaped bracket, the axial line of each main shaft passes through the center of the bracket, the brackets can rotate along with the main shafts, four ends of each bracket are respectively provided with a roller motor, the axial line of an output shaft of each roller motor is parallel to the axial line of each main shaft, each output shaft is provided with a roller, and the rollers can rotate along with the output shafts; the robot body is provided with an infrared distance-measurement sensor, the detection height of the infrared distance-measurement sensor is larger than the heights of the main shafts and smaller than the heights of the top ends of the brackets, the infrared distance-measurement sensor is connected with a control unit, the roller motor is provided with a current sensor, the current sensor is connected with the control unit in a signal manner, and the control unit is connected with the main motors and the roller motors by a control circuit. The combined moving mechanism of the robot disclosed by the utility model can ensure that the robot regularly walks on the complex ground, thus the robot can flexibly deal with various barriers and the stability of a mechanical structure is improved.
Description
Technical field
The utility model relates to the travel mechanism of robot, relates in particular to a kind of obstacle detouring moving structure.
Background technology
According to the characteristics of barrier-surpassing robot travel mechanism, robot can be divided into polytypes such as wheeled, sufficient formula, crawler type, combined type.
The characteristics of wheeled barrier-surpassing robot be manoevreability good, simple in structure, be easy to control, expenditure of energy is low, but its off-road capability is relatively poor, can only cross the obstacle of height less than radius of wheel usually, is difficult to fulfil assignment under complex environment.Robot is in order to cross over higher obstacle, and method commonly used is to take the car body of the suspension gear of passive type or multi-section type to increase the degree of freedom of robot, makes robot adjust attitude according to change of topography in traveling process.
The characteristics of foot formula barrier-surpassing robot are that alerting ability is good, can adapt to complicated topographic condition.But its structure is complicated, wayward.
The characteristics of crawler type barrier-surpassing robot are that off-road capability is good, can cross obstacles such as ladder, trench.But its mechanism's heaviness, expenditure of energy is big, and because crawler belt is not easy to detect so self poisoning difficulty when take place sliding.
There are various defectives in the robot of single structure form on performance and structure, effect in actual applications is desirable not to the utmost.
The utility model content
Technical problem to be solved in the utility model is to provide a kind of obstacle performance good, simple in structure, the robot combined type travel mechanism of good reliability.
The utility model is achieved through the following technical solutions:
A kind of combined type travel mechanism of robot is characterized in that:
Two parallel main axis of robot body bottom configuration, main motor of every main shaft configuration,
A criss cross support is assembled at every main shaft two ends, and main-shaft axis passes carriage center, and support can be with main axis rotation,
A roller motor is respectively installed in four ends of support, and the output shaft parallel axes of roller motor is assembled roller in main-shaft axis on the output shaft, and roller can rotate with output shaft,
Dispose infrared distance sensor on the robot body, the detection of infrared distance sensor highly is higher than main shaft, is lower than cantilever tip, and the infrared distance sensor signal connects control unit,
Dispose current sensor on the roller motor, current sensor signal connects control unit,
Control unit connects main motor and roller motor by control circuit.
On control principle, be divided into three kinds of situations:
The one, under comparatively smooth face of land situation, main motor is not exported, and main shaft does not rotate, and the roller that is contacted with ground by two roller motor-driven on the bottom of cross bracket rotates, and robot is realized moving forward;
The 2nd, when infrared distance measuring sensor detects the place ahead obstacle arranged, be that obstacle height is when reaching infrared distance sensor and detecting height, illustrate that obstacle height has surpassed the leap limiting altitude of travel mechanism, this moment, infrared distance sensor was issued signal of control unit, the counter-rotating of control unit control roller motor, the driving rolls counter-rotating realizes retreating, after turning keeps away barrier then, continue to move ahead;
The 3rd, when infrared distance measuring sensor detects the place ahead obstacle is not arranged, but the current sensor senses on the roller motor is when the magnitude of current has than big-difference under the magnitude of current and the nominal situation to the roller motor circuit, as: the magnitude of current is under the nominal situation during 1.3～1.5 times of the magnitude of current, illustrate that two rollers that robot is positioned at the place ahead touch the obstacle that can cross, can't continue to advance, roller idle running, this moment, current sensor was issued signal of control unit, control unit control roller motor stops output, main electric motor starting drives main axis rotation, the entire bracket upset, realize obstacle detouring, after successful obstacle detouring, control unit is controlled main motor and is stopped output, roller electric motor starting, drive the roller that contacts with ground and rotate, robot moves on.
If infrared distance sensor detects excessive height, can make the support still can't successful obstacle detouring after upset, detect and highly spend lowly, the obstacle climbing ability of robot can reduce, it is 1/2～7/10 of support height highly that therefore general infrared distance sensor detects, and is preferably 2/3 of support height.
Further, for the benefit of control unit shifts to an earlier date anticipation, and infrared distance sensor detects 0.1～0.8m that distance generally is preferably robot direct of travel the place ahead.
Further again, steadily overturn when the obstacle detouring for guaranteeing the entire machine people, avoid reversal rate too fast, main shaft links to each other by train of reduction gears with main motor.
The beneficial effects of the utility model are:
1, criss-cross is crossed over train and can be guaranteed that robot normally walks on the face of land of complexity, makes robot can tackle various obstacles flexibly;
2, the drive motor of criss-cross leap train upper roller is directly installed on the end of support, and this mode has reduced the complexity that criss-cross is crossed over wheel train structure, has improved the stability of physical construction;
3, the move mode that adopts wheel-foot to combine, it is good, simple in structure both to have had a wheeled manoevreability, and good reliability, the advantage that is easy to control combine with sufficient formula and have remedied the shortcoming of wheeled barrier-surpassing robot cross-country traveling ability difference.
Description of drawings
Fig. 1 is the assembling scheme drawing of cross bracket
Fig. 2 is the assembling scheme drawing of cross bracket and main shaft
Fig. 3 is combined type travel mechanism and robot body's an assembling scheme drawing
The action scheme drawing of travel mechanism when Fig. 4～7 are different obstacle height
In Fig. 1～7: 1 is roller, and 2 is output shaft, and 3 is the roller motor, and 4 is main motor, and 5 is support, and 6 is main shaft, and 7 is train of reduction gears.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
In the combined type travel mechanism of the utility model robot, two parallel main axis 6 of robot body bottom configuration, main motor 4 of every main shaft 6 configurations, main shaft 6 links to each other by train of reduction gears 7 with main motor 4, a criss cross support 5 is assembled at every main shaft 6 two ends, main shaft 6 axis pass support 5 centers, and support 5 can be with main shaft 6 rotations
A roller motor 3 is respectively installed in four ends of support 5, and output shaft 2 parallel axes of roller motor 3 are assembled roller 1 in main shaft 6 axis on the output shaft 2, and roller 1 can rotate with output shaft 2,
Dispose infrared distance sensor on the robot body, the detection of infrared distance sensor highly is 2/3 of support 5 height, and the detection distance of infrared distance sensor is the 0.20m in robot direct of travel the place ahead, and the infrared distance sensor signal connects control unit,
Dispose current sensor on the roller motor 3, current sensor signal connects control unit,
Control unit connects main motor 4 and roller motor 3 by control circuit.
Under comparatively smooth face of land situation, main motor 4 is not exported, and main shaft 6 does not rotate, and drives the roller 1 that contacts with ground by 5 two roller motors 3 on the bottom of cross bracket and rotates, and robot is realized moving forward, as shown in Figure 4;
When infrared distance measuring sensor monitors the place ahead obstacle is not arranged, but the current sensor senses on the roller motor 3 is when the magnitude of current has than big-difference under roller motor 3 magnitudes of current and nominal situation, as: the magnitude of current is under the nominal situation during 1.3～1.5 times of the magnitude of current, illustrate that two rollers 1 that robot is positioned at the place ahead touch the obstacle that can cross, can't continue to advance, roller idle running, this moment, current sensor was issued signal of control unit, control unit control roller motor 3 stops output, main motor 4 starts 6 rotations of drive main shaft, the entire bracket upset, realize obstacle detouring, after successful obstacle detouring, control unit is controlled main motor 4 and is stopped output, roller motor 3 starts, drive the roller 1 that contacts with ground and rotate, robot moves on, shown in Fig. 5～6;
When infrared distance measuring sensor detects the place ahead obstacle arranged, be detection when height that obstacle height reaches infrared distance sensor, illustrate that obstacle height has surpassed the leap limiting altitude of travel mechanism, this moment, infrared distance sensor was issued signal of control unit, 3 counter-rotatings of control unit control roller motor, driving rolls 1 counter-rotating realizes retreating, after turning keeps away barrier then, continue to move ahead, as shown in Figure 7.
Claims (5)
1. the combined type travel mechanism of a robot is characterized in that:
Robot body bottom configuration two parallel main axis (6), every main shaft (a 6) configuration main motor (4),
A criss cross support (5) is assembled at every main shaft (6) two ends, and main shaft (6) axis passes support (5) center, and support (5) can rotate with main shaft (6),
A roller motor (3) is respectively installed in four ends of support (5), and output shaft (2) parallel axes of roller motor (3) is in main shaft (6) axis, and output shaft (2) is gone up assembling roller (1), and roller (1) can rotate with output shaft (2),
Dispose infrared distance sensor on the robot body, the detection of infrared distance sensor highly is higher than main shaft (6), is lower than support (5) top, and the infrared distance sensor signal connects control unit,
Roller motor (3) is gone up the configuration current sensor, and current sensor signal connects control unit,
Control unit connects main motor (4) and roller motor (3) by control circuit.
2. robot combined type according to claim 1 travel mechanism is characterized in that: the detection of described infrared distance sensor highly is 1/2～7/10 of support (5) height.
3. robot combined type according to claim 2 travel mechanism is characterized in that: the detection of described infrared distance sensor highly is 2/3 of support (5) height.
4. robot combined type according to claim 1 travel mechanism is characterized in that: the detection distance of described infrared distance sensor is the 0.1～0.8m in robot direct of travel the place ahead.
5. robot combined type according to claim 1 travel mechanism, it is characterized in that: described main shaft (6) links to each other by train of reduction gears (7) with main motor (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206581180U CN201971077U (en) | 2010-12-14 | 2010-12-14 | Combined moving mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206581180U CN201971077U (en) | 2010-12-14 | 2010-12-14 | Combined moving mechanism of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201971077U true CN201971077U (en) | 2011-09-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206581180U Expired - Fee Related CN201971077U (en) | 2010-12-14 | 2010-12-14 | Combined moving mechanism of robot |
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|---|---|
| CN (1) | CN201971077U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102621983A (en) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | Travelling mechanism for insulator inspection robot |
| CN105534418A (en) * | 2016-01-27 | 2016-05-04 | 苏州宏奇锐自动化有限公司 | Intelligent self-adaption traveling mechanism for floor sweeping robot |
| CN105835980A (en) * | 2016-05-30 | 2016-08-10 | 贵州工程应用技术学院 | Stair climbing and flat ground carrying machine |
| CN106985924A (en) * | 2017-02-24 | 2017-07-28 | 杭州电子科技大学 | Compound wheel type robot running gear |
| CN107042377A (en) * | 2017-04-18 | 2017-08-15 | 徐州乐泰机电科技有限公司 | A kind of pipe welding robot |
| CN107315426A (en) * | 2017-08-31 | 2017-11-03 | 珠海市微半导体有限公司 | One kind rotation ranging sensing device and robot |
| CN107933723A (en) * | 2017-11-21 | 2018-04-20 | 苏州智德金网络科技股份有限公司 | A kind of multifunctional obstacle-surmounting robot |
| CN110329382A (en) * | 2019-08-08 | 2019-10-15 | 北京思迈特科技有限公司 | A kind of improved cable ditch crusing robot walking mechanism |
| CN111240311A (en) * | 2018-11-29 | 2020-06-05 | 北京奇虎科技有限公司 | Obstacle meeting processing method, device and equipment of sweeping robot and readable storage medium |
| CN111700543A (en) * | 2019-03-18 | 2020-09-25 | 北京奇虎科技有限公司 | Obstacle handling method, device, equipment and computer readable storage medium |
-
2010
- 2010-12-14 CN CN2010206581180U patent/CN201971077U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102621983B (en) * | 2012-04-01 | 2014-04-09 | 山东鲁能智能技术有限公司 | Travelling mechanism for insulator inspection robot |
| CN102621983A (en) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | Travelling mechanism for insulator inspection robot |
| CN105534418B (en) * | 2016-01-27 | 2017-12-05 | 苏州宏奇锐自动化有限公司 | A kind of sweeping robot intelligent adaptive walking mechanism |
| CN105534418A (en) * | 2016-01-27 | 2016-05-04 | 苏州宏奇锐自动化有限公司 | Intelligent self-adaption traveling mechanism for floor sweeping robot |
| CN105835980A (en) * | 2016-05-30 | 2016-08-10 | 贵州工程应用技术学院 | Stair climbing and flat ground carrying machine |
| CN106985924A (en) * | 2017-02-24 | 2017-07-28 | 杭州电子科技大学 | Compound wheel type robot running gear |
| CN107042377A (en) * | 2017-04-18 | 2017-08-15 | 徐州乐泰机电科技有限公司 | A kind of pipe welding robot |
| CN107315426A (en) * | 2017-08-31 | 2017-11-03 | 珠海市微半导体有限公司 | One kind rotation ranging sensing device and robot |
| CN107933723A (en) * | 2017-11-21 | 2018-04-20 | 苏州智德金网络科技股份有限公司 | A kind of multifunctional obstacle-surmounting robot |
| CN107933723B (en) * | 2017-11-21 | 2020-08-18 | 苏州智德金网络科技股份有限公司 | Multifunctional obstacle-surmounting robot |
| CN111240311A (en) * | 2018-11-29 | 2020-06-05 | 北京奇虎科技有限公司 | Obstacle meeting processing method, device and equipment of sweeping robot and readable storage medium |
| CN111700543A (en) * | 2019-03-18 | 2020-09-25 | 北京奇虎科技有限公司 | Obstacle handling method, device, equipment and computer readable storage medium |
| CN111700543B (en) * | 2019-03-18 | 2022-12-02 | 北京奇虎科技有限公司 | Obstacle handling method, device, equipment and computer readable storage medium |
| CN110329382A (en) * | 2019-08-08 | 2019-10-15 | 北京思迈特科技有限公司 | A kind of improved cable ditch crusing robot walking mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110914 Termination date: 20131214 |