CN203888923U - Novel obstacle-surmounting robot - Google Patents

Novel obstacle-surmounting robot Download PDF

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Publication number
CN203888923U
CN203888923U CN201420219841.7U CN201420219841U CN203888923U CN 203888923 U CN203888923 U CN 203888923U CN 201420219841 U CN201420219841 U CN 201420219841U CN 203888923 U CN203888923 U CN 203888923U
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CN
China
Prior art keywords
motor
robot
wheel
wheel foot
detector
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Expired - Fee Related
Application number
CN201420219841.7U
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Chinese (zh)
Inventor
李君科
刘凯
王宇俊
方灿
石云辉
王观玉
李明江
孟学华
张仁宽
张国锋
卢玉
周力军
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Southwest University
Qiannan Normal University for Nationalities
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Southwest University
Qiannan Normal University for Nationalities
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Priority to CN201420219841.7U priority Critical patent/CN203888923U/en
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Publication of CN203888923U publication Critical patent/CN203888923U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a novel obstacle-surmounting robot. The novel obstacle-surmounting robot comprises a body, a control system installed in the body, and travelling devices symmetrically installed on the side surfaces of the body, wherein the control system comprises a central controller, a motor drive controller, a wireless communication unit, position detectors and a battery; each of the travelling device is of a half-wheel foot type structure, and mainly composed of half-wheel feet and a motor, the half-wheel feet are installed on the output shaft of the motor through drive holes, and the motor is installed on the body through a motor fixing plate; the position detectors are as many as the half-wheel feet, and the position detectors are installed between the half-wheel feet and the motor fixing plate. The novel obstacle-surmounting robot disclosed by the utility model is capable of give consideration to both the stability of the power consumption of a regular terrain system and the high efficiency of travelling, and capable of meeting the obstacle-surmounting capacity under an irregular terrain in the form of using half wheels as the feet; the robot is high in terrain adaptability, capable of travelling in complex environments, and having the movement efficiency of wheels under the regular terrain.

Description

A kind of novel barrier-surpassing robot
Technical field
The utility model belongs to Robotics field, specifically relates to a kind of novel barrier-surpassing robot.
Background technology
Along with the continuous exploration of the mankind to tera incognita, more and more destructuring of human work's environment; The events such as disaster, forest fire, nuclear incident, earthquake rescue of adding take place frequently, and the mankind urgently wish these environment of perception, to reach collection information, alleviate disaster, to rescue the objects such as the wounded.For this reason, barrier-surpassing robot arises at the historic moment and helps people and go to address this problem.
At present, the structure such as that the kinematic mechanism that barrier-surpassing robot uses mainly contains is wheeled, crawler type, hybrid, sufficient formula surely belongs to wheeled kinematic mechanism and is most widely used in these kinematic mechanisms.Wheeled mechanism has that efficiency is high, speed soon, the advantage such as action is stable and gone through the practical application of several thousand.The Chinese patent that is CN101947776B as publication number discloses a kind of wheel type barrier-crossing robot, comprise that robot vehicle frame, three groups move adsorbing mechanism and corresponding line slide rail, leading screw and drive motor thereof, three groups of line slide rails and leading screw are vertically arranged at robot vehicle frame below and two ends are connected with robot vehicle frame and mobile adsorbing mechanism respectively, and drive motor is fixedly connected with mobile adsorbing mechanism.This technical scheme solves the problem that existing climbing robot exists in the time of vertical walls operation, robot had both had wheeled mobile robot speed soon and had turned to the feature flexible, caterpillar mobile robot magnetic adsorbability is large, but this invention has certain requirement to walking landform, can only be on subdued topography continuous walking; For another example, publication number is that the Chinese patent of CN203528629U discloses the wheeled wall barrier-surpassing robot of climbing of a kind, comprise body, tail end at body is provided with balancing device, at least 2 body branches that are connected in series successively before and after body comprises, between adjacent Liang Ge body branch, connect by revolute pair, the axis of revolute pair is parallel with the upper surface of body; The left and right sides in each body branch is provided with the class wheel construction being arranged symmetrically with, and each class wheel construction is installed on an axle drive shaft, and axle drive shaft is arranged in corresponding body branch; Class wheel construction is provided with the axle block and circumferential uniform 3~5 spokes that are fixed on axle block that are sleeved in respective drive, spoke adopts arc-shaped curved surface structure, and the outside in arc-shaped curved surface structure is provided with adsorption structure, the area of contact of adsorption structure and metope is greater than the area of contact of spoke and adsorption structure, between two adjacent spokes, is provided with span.Although this technology has the advantages such as kinematic velocity is fast, area of contact is large, absorption property is strong, need to could obtain above-mentioned advantage according to its lineament of walking, and requires landform smooth, continuous, thereby its field of application is restricted.
Caterpillar type robot has increased the ability conforming, and has expanded the range of use of robot, but it also this has also paid the costs such as the high and broken ring to landform of heavy crawler belt, power consumption for this reason.The Chinese patent that is CN203266628U as publication number discloses a kind of crawler type industrial robot, it is made up of the mechanical arm on top, the turntable of centre and the base of bottom, on described base, be provided with rotating disc, turntable is arranged on rotating disc, described mechanical arm below establishes to be crossbeam, described mechanical arm is made up of the back seat of rear end, the forearm of centre and the wrist end of leading portion, is provided with runner and servomotor in described turntable, and described base is arranged with crawler type walking mechanism.This technical scheme, by crawler type walking mechanism is set, can walk industrial robot on uneven ground, has improved the adaptive faculty of industrial robot to environment; But the crawler belt that it uses is extremely heavy, power consumption is high, broken ring to landform and serious.
Legged type robot can be walked well under non-regular landform, is with a wide range of applications in fields such as aerospace, military and national defense, mountain region search and rescue and industrial and agricultural productions.As disclosing a kind of six, the publication number Chinese patent that is CN202593677U takes turns sufficient formula string series-parallel robot, comprise carrying platform, battery, control system, the wheel foot combined type movement side chain of camera and 3 6DOFs, on described carrying platform, battery is installed, control system and camera, the described sufficient combined type movement side chain of taking turns is installed below described carrying platform, described take turns sufficient combined type movement side chain comprise driftage joint, driftage knuckle support, upper pitching joint, thigh, middle pitching joint, middle pitching knuckle support, upper roll joint, shank, lower pitching joint, lower pitching knuckle support, lower roll joint, power wheel support and power wheel.This robot has good alerting ability and rapidity; But control and structure are more complicated.
Hybrid mechanism robot Integrated using the advantage of above-mentioned various mechanisms, make it adapt to various landform as far as possible.The Chinese patent that is CN203293183U as publication number discloses a kind of hybrid barrier-surpassing robot of wheel arm with radial expansion wheel, and it is made up of drive wheel, car body, mechanical arm, auxiliary wheel, manipulator five parts.Two drive wheels are symmetricly set on the car body left and right sides, and connect and compose revolute pair with car body, and mechanical arm and car body front end are hinged, and auxiliary wheel is arranged on the forearm of mechanical arm, and manipulator and mechanical arm wrist joint end are affixed.This technical scheme is mainly to regulate adaptation to the ground by himself the conversion of wheel arm pose and wheel radial dimension.But its structure and control are comparatively complicated, and obstacle climbing ability is not ideal enough.
Publication number is that the Chinese patent of CN103373404A discloses a kind of crawler leg composite movable robot, and its basic structure is made up of two main crawler belts, two front swing arm crawler belts, two rear-swing arm crawler belts and car body; The two ends of described front swing arm crawler belt and rear-swing arm crawler belt are flexibly connected respectively the both sides that form parallelogram transmission device and be placed in car body with car body and main crawler belt by crawler belt axle; Crawler belt axle and the actuating device of described rear-swing arm crawler belt are in transmission connection; And realize the rotation of forward and backward swing arm track frame by transmission of power.The advantage of this robot is to utilize front swing arm crawler belt and rear-swing arm crawler belt to carry out obstacle detouring, climbing, thereby has good obstacle climbing ability.But its complex structure, can not self adaptation landform, in the time running into obstacle, need artificial switching.
Publication number is that the Chinese patent of CN102107685A discloses a kind of eccentric wheel leg six biped robots, and this robot adopts the form of eccentric wheel structure as leg, and airframe structure adopts symmetric design and is flat long and narrow build.This robot comprises fuselage ring, eccentric wheel, motor, power supply, photoelectric encoder, control circuit, remote controller.Robot can overcome the power consumption thermal agitation of traditional leg structure, and ensured to advance, retreated, left and right turn functional completeness.This robot earth's surface strong adaptability, wider eccentric wheel leg is not only applicable to smooth hard earth's surface, and can walk in the earth's surfaces such as meadow, sandy beach, rubble; This robot obstacle climbing ability is strong, can easily cross over the obstacle a little less than fuselage height.The obstacle detouring of this robot under non-regular landform is effective, but sport efficiency under non-regular landform is lower, and its operating efficiency only has wheeled robot 1/3 left and right.Owing to having adopted eccentric wheel structure, its walking power fluctuates larger with respect to wheeled robot, and in walking process, energy consumption is larger, also the life-span of power supply is had a certain impact simultaneously.
In sum, above-mentioned robot respectively has its merits and faults, but in actual applications, existing barrier-surpassing robot exists the deficiencies such as sport efficiency is low, energy consumption large, control complexity, obstacle climbing ability is undesirable, and these have seriously limited the field of application of robot; Use the robot of wheel to there is the high efficiency of motion and the simplicity of control, but it lack obstacle climbing ability.Therefore, how improving the obstacle climbing ability that uses wheel child robot, can take into account in the stationarity of regular topography system power consumption and the high efficiency of walking, is current Robotics field problem demanding prompt solution.
Utility model content
The purpose of this utility model is, for the existing deficiency of existing robot, to provide a kind of novel barrier-surpassing robot, and this robot can be taken into account in the stationarity of regular topography system power consumption and the high efficiency of walking, and obstacle climbing ability under non-regular landform.
The utility model is achieved by following technical solution.
A kind of novel barrier-surpassing robot, comprise body, be arranged on control system and the symmetrical running gear that is arranged on body side of internal body, described control system comprises central controller, motor drive controller, wireless communication unit, position detector and battery; Wherein, battery connects respectively central controller, motor drive controller, wireless communication unit and position detector by power lead; Central controller uses control line to be connected with motor drive controller, wireless communication unit and position detector respectively; Motor drive controller is connected with motor by control line; Described running gear is half wheel foot formula structure, is mainly made up of half wheel foot and motor, and half wheel foot is arranged on the output shaft of motor by drive hole, and motor is arranged on body by motor fixing plate; The quantity of described position detector is with partly to take turns sufficient quantity identical, and position detector is arranged between half wheel foot and motor fixing plate.
Described body is flats structure.Adopt this structure to make robot after turning on one's side, not affect its walking.
Described half wheel foot is even number, and symmetry is arranged on the output shaft of motor of body both sides.
Described half wheel foot is sector structure, and the radian of sector structure is not less than π.
Described drive hole is positioned on the central angle of sector structure.
On the radius of described sector structure, be provided with skid resistant course or wrap one deck anti-slip material.
Described anti-slip material is silaatic, resin friction material or aluminum matrix composite.
The beneficial effects of the utility model are:
The utility model is partly taken turns sufficient version by adopting, and barrier-surpassing robot can be taken into account in the stationarity of regular topography system power consumption and the high efficiency of walking, can meet the obstacle climbing ability under non-regular landform simultaneously; Compared with prior art, there is following remarkable advantage:
(1) adopt and partly take turns sufficient formula structure walking, can improve the robot of sufficient structure at the low inferior position of regular landform sport efficiency and don't forfeiture obstacle climbing ability, make adaptive capacity to environment higher;
(2) adopt and partly take turns sufficient formula structure walking, not only can improve the concussion of power consumption when walking of sufficient structure, and can ensure the reliability of walking;
(3) adopt the symmetry of partly taking turns sufficient formula structure and installation, also can normally walk when toppling, make fault-tolerant ability raising;
(4) can select easily half wheel of different numbers sufficient according to the size of bearing a heavy burden and environment;
(5) physical construction is simple, realization is easy, it is convenient to control;
(6) be applied in working environment and switch without pattern.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of running gear in the utility model;
Fig. 3 is the functional block diagram of control system in the utility model.
In figure: 1-body 1,2-control system, 3-running gear, 21-central controller, 22-motor drive controller, 23-wireless communication unit, 24-position detector, 25-battery, 31-half wheel foot, 32-motor, 33-motor fixing plate, 311-drive hole, 312-anti-slop serrations.
Detailed description of the invention
Further describe the technical solution of the utility model below in conjunction with accompanying drawing, but described in claimed scope is not limited to.
As shown in Figure 1, Figure 2, Figure 3 shows, the novel barrier-surpassing robot of one described in the utility model, comprise body 1, be arranged on control system 2 and the symmetrical running gear 3 that is arranged on body 1 side of body 1 inside, described control system 2 comprises central controller 21, motor drive controller 22, wireless communication unit 23, position detector 24 and battery 25; Wherein, battery 25 connects respectively central controller 21, motor drive controller 22, wireless communication unit 23 and position detector 24 by power lead, is used to whole robot that energy is provided; Central controller 21 uses control line to be connected with motor drive controller 22, wireless communication unit 23 and position detector 24 respectively, the work of the signal control motor driving governor 22 by position detector 24, wireless communication unit 23 for receives user's and by command routing to central controller 21; Motor drive controller 22 is connected with motor 32 by control line; Described running gear 3 is half wheel foot formula structure, is mainly made up of half wheel foot 31 and motor 32, and half wheel foot 31 is arranged on the output shaft of motor 32 by drive hole 311, and motor 32 is arranged on body 1 by motor fixing plate 33; The quantity of the quantity of described position detector 24 and half wheel foot 31 is identical, and position detector 24 is arranged between half wheel foot 31 and motor fixing plate 33, for detection of the state of half wheel sufficient 31 and status signal is passed to central controller 21.
Described body 1 is flats structure.Adopt this structure to make robot after turning on one's side, not affect its walking.
Described half wheel foot 31 is even number, and symmetry is arranged on the output shaft of motor 32 of body 1 both sides.
Described drive hole (311) is positioned on the central angle of sector structure.
A described motor 32 corresponding one and half is taken turns foot 31, adopts individual drive mode.
The utility model in actual applications, traveling half wheel foot 31 is provided with n (n=4,6,8,10 ...), be installed on left and right sides symmetric mode on the output shaft of body 1 both sides motor 32, in order to ensure to reach desirable obstacle clearing capability, the symmetrical group of left and right sides can be installed with the position that is not more than wheel radius; Robot uses two and Ban wheel foot 31 walkings, and one group is that left side sequence number is the wheel composition that even number wheel and right side sequence number are odd number, and another group is that left side sequence number is the wheel composition that odd number wheel and right side sequence number are even number.Two groups of wheels ensure robot motion by the gait control of control system.Ensureing that the obstacle climbing ability of robot under non-regular landform also ensured high efficiency and the power consumption stability of under the regular landform of robot, moving outward like this.
Described half wheel foot 31 is sector structure, and the radian of sector structure is not less than π.The radian of sector structure can need according to it the height of crossing to determine in obstacle detouring environment.If the radian of half wheel foot 31 is W, desirable obstacle clearing capability is L, the radius r of wheel.Wherein, W is value between π and 2 π, and W value is larger, and the height that can cross is also just lower.Maximum desired obstacle clearing capability is the radius of twice wheel, and maximum desired obstacle clearing capability is 2r.Pass between radian W and the desirable obstacle clearing capability L of half wheel foot 31 sector structures is:
This robot is in the time of operation, central controller 21 in control system 2 detects half wheel foot 31 real-time running state signals according to position detector 24 and comprehensively analyzes, then generate corresponding gait control signal and respectively two and Ban wheel foots 31 are controlled, thereby make robot coordinated motion.Native system utilizes the position feedback of position detector not only can realize robot motion's walking control, but also can make robot motion have more visual impact.
As Fig. 1 can find out, motor 32 is placed in body 1 and uses the fasteners such as screw that itself and motor fixing plate 33 are fixed up.Central controller 21, motor drive controller 22, wireless communication unit 23 and battery 25 are fixedly installed in body, and during for fear of robot motion, center of gravity is unbalance, preferably they are installed near robot center-of-gravity position; In the technical program, they are loaded on to center-of-gravity position and make its weight near center of gravity balanced as far as possible all around.As shown in Figure 2, position detector 24 is arranged on motor fixing plate 33 by screw thread, and between motor fixing plate 33 and half wheel foot 31.
As shown in Figure 1 and Figure 2, half wheel foot 31 relies on motor 32 to drive, and wherein motor shaft directly connects the drive hole 311 of half wheel foot 31, and motor 32 other ends are connected to the control system 2 of robot; Motor 32 is fixed on body 1 by motor fixing plate 33, and motor fixing plate 33 and body 1 use and be threaded.Size and shape and the motor shaft of described drive hole 311 match, and when mounted, after the drive hole 311 of half wheel foot 31 and motor shaft are socketed, fix by screw thread.The output shaft of motor 32 drive half wheel foot 31 motions like this, thus be that robot is laid a good foundation according to gait walking.
As shown in Figure 2, in order to make robot reach desirable obstacle clearing capability, in the time of mounted motor adapter plate 33, the symmetrical side connecting element of body 1 front and back can be installed in the mode that staggers, and the distance staggering is advisable with the length that is no more than wheel radius.In order to reach better obstacle detouring effect, on the radius of described half wheel foot 31 sector structures, be provided with skid resistant course 312 or wrap one deck anti-slip material in practice.Its anti-slip material can adopt silaatic, resin friction material, or the good material of friction force such as aluminum matrix composite.

Claims (7)

1. a novel barrier-surpassing robot, comprise body (1), be arranged on the inner control system (2) of body (1) and symmetry and be arranged on the running gear (3) of body (1) side, described control system (2) comprises central controller (21), motor drive controller (22), wireless communication unit (23), position detector (24) and battery (25); Wherein, battery (25) connects respectively central controller (21), motor drive controller (22), wireless communication unit (23) and position detector (24) by power lead; Central controller (21) uses control line to be connected with motor drive controller (22), wireless communication unit (23) and position detector (24) respectively; Motor drive controller (22) is connected with motor (32) by control line; It is characterized in that: described running gear (3) is half wheel foot formula structure, mainly formed by half wheel foot (31) and motor (32), half wheel foot (31) is arranged on the output shaft of motor (32) by drive hole (311), and motor (32) is arranged on body (1) by motor fixing plate (33); The quantity of described position detector (24) is identical with the quantity of half wheel foot (31), and position detector (24) is arranged between half wheel foot (31) and motor fixing plate (33).
2. the novel barrier-surpassing robot of one according to claim 1, is characterized in that: described body (1) is flats structure.
3. the novel barrier-surpassing robot of one according to claim 1, is characterized in that: described half wheel foot (31) is even number, and symmetry is arranged on the output shaft of motor (32) of body (1) both sides.
4. the novel barrier-surpassing robot of one according to claim 1, is characterized in that: described half wheel foot (31) is sector structure, and the radian of sector structure is not less than π.
5. the novel barrier-surpassing robot of one according to claim 1, is characterized in that: described drive hole (311) is positioned on the central angle of sector structure.
6. the novel barrier-surpassing robot of one according to claim 4, is characterized in that: on the radius of described sector structure, be provided with skid resistant course (312) or wrap one deck anti-slip material.
7. the novel barrier-surpassing robot of one according to claim 6, is characterized in that: described anti-slip material is silaatic, resin friction material or aluminum matrix composite.
CN201420219841.7U 2014-04-30 2014-04-30 Novel obstacle-surmounting robot Expired - Fee Related CN203888923U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420219841.7U CN203888923U (en) 2014-04-30 2014-04-30 Novel obstacle-surmounting robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420219841.7U CN203888923U (en) 2014-04-30 2014-04-30 Novel obstacle-surmounting robot

Publications (1)

Publication Number Publication Date
CN203888923U true CN203888923U (en) 2014-10-22

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ID=51715359

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Application Number Title Priority Date Filing Date
CN201420219841.7U Expired - Fee Related CN203888923U (en) 2014-04-30 2014-04-30 Novel obstacle-surmounting robot

Country Status (1)

Country Link
CN (1) CN203888923U (en)

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GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20141022

Termination date: 20170430

CF01 Termination of patent right due to non-payment of annual fee