CN205131414U - Crawler -type underactuated robot with shape self -adaptation - Google Patents

Abstract

<b>The utility model relates to a crawler-type underactuated robot with shape self-adaptation. The currently used underactuated robots generally use wheeled mobile mechanisms. Due to poor shape change functions of wheeled mobile robots, such as climbing slopes, overcoming obstacles, crossing trenches, etc., they cannot adapt to various harsh environments. The utility model consists of </b><b>:</b><b> body device (</b><b>1</b><b>), the two sides of the front end of the body device pass through The connecting shafts are respectively connected with </b><b>2</b><b> drive wheel devices (</b><b>9</b><b>), and the drive wheel devices are connected by The shaft is connected to the front end of the track frame (</b><b>8</b><b>), and the rear end of the track frame is connected to the guide wheel device (</b><b>7</b><b>7</ b><b>) connection, the guide wheel device is connected with the body device through a connecting shaft, the drive wheel device and the guide wheel device have grooves, and the grooves are installed with Crawlers (</b><b>3</b><b>). The utility model is used for a crawler-type underactuated robot with self-adaptive shape. </b>

Description

Tracked Underactuated Robot with Shape Adaptation

Technical field:

The utility model relates to a crawler type underactuated robot with self-adaptive shape.

Background technique:

The currently used underactuated robots generally use wheeled mobile mechanisms. Due to the poor shape change function of wheeled mobile robots, such as climbing slopes, crossing obstacles, crossing trenches, etc., they cannot adapt to various harsh environments. Shape changeable crawler robot means that the configuration of the crawler used by the robot can be appropriately changed according to the terrain conditions and operation requirements. This product has a shape changeable track type underactuated robot. The variable track is driven by two main motors respectively. When the speed of the two tracks is different, the robot realizes the steering movement. When the main boom rotates around the axis on the track frame, it drives the planetary wheel to rotate, thereby realizing different configurations of the track. , to adapt to different sports and working environments.

Invention content:

The purpose of the utility model is to provide a crawler-type underactuated robot with self-adaptive shape.

Above-mentioned purpose realizes by following technical scheme:

A crawler-type underactuated robot with self-adaptive shape, which consists of: a body device, the two sides of the front end of the body device are respectively connected to two drive wheel devices through a connecting shaft, and the drive wheel device is connected to two drive wheel devices through a connecting shaft. The front end of the track frame is connected, the rear end of the track frame is connected with the guide wheel device through the connecting shaft, the guide wheel device is connected with the body device through the connecting shaft, the driving wheel device, the guide wheel The wheel device has a groove, and a track device is installed in the groove.

In the shape-adaptive crawler-type underactuated robot, the middle position of the crawler frame is connected to the main boom through the connecting shaft, the main boom is connected to the crank through the connecting shaft, and the crank is connected to the crank through the connecting shaft It is connected with the planetary gear mechanism, and the middle position of the front end of the upper plane of the body device is connected with the camera through bolts.

Beneficial effect:

1. The utility model is a crawler-type underactuated robot with self-adaptive shape. The main part of the robot is two crawler devices with variable shapes, which are respectively driven by two main motors inside the body device. When the two crawler belts When the speed of the device is the same, the robot moves forward or backward. When the speeds of the two crawlers are different, the robot realizes the steering movement. When the main boom rotates around the axis on the crawler frame, it drives the planetary gear mechanism to rotate, thereby realizing the crawler device. Different configurations to adapt to different sports and working environments.

The utility model adopts a crawler-type mobile mechanism, which has good stability, strong ability to climb slopes, overcome obstacles, and cross trenches, and has strong environmental adaptability. In addition, the auxiliary crawler can increase the ability to overcome obstacles and cross trenches.

The configuration of the crawler device used by the robot of the utility model can be appropriately changed according to terrain conditions and operation requirements, and can work in various harsh environments.

The position of the crawler device of the present invention relative to the car body can be changed. This change of position can be one degree of freedom or two degrees of freedom. The crawler device can go around the horizontal axis and the vertical axis of the car body. deflection, thereby changing the overall configuration of the robot.

The main motor inside the body device of the utility model drives the drive wheel device to move, so that the crawler belt device rotates. The main arm motor inside the body device engages with the gear coaxial with the motor, on the one hand drives the main arm to rotate, and on the other hand engages the gear , drives the planetary gear mechanism, and the dynamic planetary gear mechanism drives the crank to rotate.

In the utility model, because the number of teeth of the gears inside the body device is the same, the rotational speeds of the gears are the same, but the directions are opposite, so that when the main arm motor is working, the angle at which the main arm turns is equal to the absolute angle of rotation of the crank, but opposite in direction.

In the utility model, the middle position of the front end of the plane on the body device is connected to the camera through bolts. The camera can record various real-time situations of the robot when it is working.

Description of drawings:

Accompanying drawing 1 is the structural representation of the utility model.

detailed description:

Example 1:

A crawler-type underactuated robot with self-adaptive shape, which consists of: a body device 1, the two sides of the front end of the body device are respectively connected to two drive wheel devices 9 through connecting shafts, and the drive wheel devices are connected by connecting The shaft is connected with the front end of the crawler frame 8, and the rear end of the crawler frame is connected with the guide wheel device 7 through the connecting shaft, and the described guide wheel device is connected with the described body device through the connecting shaft, and the described driving wheel device, The guide wheel device has a groove, and a crawler belt device 3 is installed in the groove.

Example 2:

In the shape-adaptive crawler-type underactuated robot described in Embodiment 1, the middle position of the crawler frame is connected to the main boom 6 through a connecting shaft, and the main boom is connected to the crank 5 through a connecting shaft. The crank is connected with the planetary gear mechanism 4 through the connecting shaft, and the middle position of the front end of the upper plane of the body device is connected with the camera 2 by bolts.

Example 3:

The transmission method of the crawler-type underactuated robot with shape self-adaptation described in embodiment 1-2, this method is first two track devices with variable shape, driven by two main motors inside the body device, when the two crawler devices When the speed of the crawler is the same, the robot moves forward or backward. When the speed of the two crawler devices is different, the robot realizes the steering movement. When the main boom rotates around the axis on the crawler frame, it drives the planetary gear mechanism to rotate, thereby realizing the crawler device. Different configurations to adapt to different sports and working environments;

The main motor drives the driving wheel device to rotate, and the crawler belt device rotates. The body device has a main arm motor inside, and the main arm motor drives the main arm to rotate through gears coaxial with the motor. On the other hand, through the meshing between the gears, the sprocket inside the main boom is driven to rotate, and the sprocket further drives the crank to rotate through the chain through the planetary gear mechanism. On the contrary, the number of sprocket teeth at both ends of the chain is equal, so that when the main arm motor is working, the angle at which the main arm turns is equal to and opposite to the absolute rotation angle of the crank.

Claims (2)

1. one kind has the crawler type lack of driven robot of form adaptive, its composition comprises: body set, it is characterized in that: described two sides, body set front end are connected with 2 drive wheel devices respectively by adapter shaft, described drive wheel device is connected with the front end of track frame by adapter shaft, described track frame rear end is connected with guide wheel device by adapter shaft, described guide wheel device is connected with described body set by adapter shaft, described drive wheel device, described guide wheel device have groove, are provided with crawler attachment in described groove.

2. the crawler type lack of driven robot with form adaptive according to claim 1, it is characterized in that: described track frame midway location is connected with principal arm bar by adapter shaft, described principal arm bar is connected with crank by adapter shaft, described crank is connected with planetary wheeling mechanism by adapter shaft, and on described body set, flat front end midway location is connected with pick up camera by bolt.