CN205131414U - Crawler -type underactuated robot with shape self -adaptation - Google Patents
Crawler -type underactuated robot with shape self -adaptation Download PDFInfo
- Publication number
- CN205131414U CN205131414U CN201520980129.3U CN201520980129U CN205131414U CN 205131414 U CN205131414 U CN 205131414U CN 201520980129 U CN201520980129 U CN 201520980129U CN 205131414 U CN205131414 U CN 205131414U
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- China
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- wheel device
- crawler
- robot
- adapter shaft
- drive wheel
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Abstract
(B, ) the utility model relates to a crawler -type underactuated robot with shape self -adaptation. The present underactuated robot that uses, that generally adopt is wheeled moving mechanism, because wheeled mobile robot shape change function is relatively poor, if climb, hinder more, stride trench etc. Can not adapt to variously than rugged environment. The utility model discloses it is constituteed including (b) (b): (B, ) (b) organism device (b) (b) 1 (b) (b), organism device front end both sides face pass through the connecting axle and be connected with the individual drive wheel device of (b) (b) 2 (b) (b) (b) (b) 9 (b) (b) respectively, drive wheel device pass through the connecting axle and be connected with the front end of track frame (b) (b) 8 (b) (b), the track frame rear end pass through the connecting axle and be connected with leading wheel device (b) (b) 7 (b) (b), the leading wheel device pass through the connecting axle with the organism device connect, drive wheel device the leading wheel device recess has, the recess in install crawler attachment (b) (b) 3 (b) (b). The utility model is used for crawler -type underactuated robot with shape self -adaptation. (B, )
Description
technical field:
the utility model relates to a kind of crawler type lack of driven robot with form adaptive.
background technology:
the lack of driven robot of current use, what generally adopt is wheeled locomotion mechanism, because wheeled mobile robot alteration of form function is poor, as climbing, obstacle detouring, across trench etc., can not adapt to various comparatively rugged environment.Shape variable-track robot, refer to that the configuration of this robot crawler belt used suitably can change according to topographic condition and job requirements, this product has the crawler type lack of driven robot of shape changeable, the base portion of this robot is the variable crawler belts of two strips, driven by two main motors respectively, when the speed of two crawler belts is different, robot realizes divertical motion, when the axle of principal arm bar on track frame rotates, drive satellite gear rotates, thus realize the different configurations of crawler belt, to adapt to different motions and operating environment.
summary of the invention:
the purpose of this utility model is to provide a kind of crawler type lack of driven robot with form adaptive.
above-mentioned object is realized by following technical scheme:
a kind of crawler type lack of driven robot with form adaptive, its composition comprises: body set, 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.
the described crawler type lack of driven robot with form adaptive, 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.
beneficial effect:
1. the utility model is a kind of crawler type lack of driven robot with form adaptive, the base portion of this robot is the variable crawler attachments of two strips, driven by two main motors of body set inside respectively, when the speed of two crawler attachments is identical, robot realizes advancing or retreating moving, when the speed of two crawler belts is different, robot realizes divertical motion, when the axle of principal arm bar on track frame rotates, drive planetary wheeling mechanism rotates, thus realize the different configurations of crawler attachment, to adapt to different motions and operating environment.
the utility model adopts crawler-type mobile mechanism, good stability, climbing, obstacle detouring, across trench ability by force, has stronger adaptive capacity to environment, in addition with secondary track, more can increase the ability of obstacle detouring and Crossing ditch.
the configuration of robot of the present utility model crawler attachment used suitably can change according to topographic condition and job requirements, can work under various rugged environment.
crawler attachment of the present utility model can change relative to the position of car body, the change of this position both can be one degree of freedom, also can be two degree of freedom, crawler attachment around the horizontal axis of car body and vertical axis deflection, thus can change the overall configuration of robot.
the main motor of the utility model body set inside drives the motion of drive wheel device, crawler attachment is rotated, the principal arm electrical motor of body set inside is by the gears meshing coaxial with electrical motor, principal arm bar is driven to rotate on the one hand, pass through gears meshing on the other hand, drive planetary wheeling mechanism, dynamic planetary wheeling mechanism drives crank up.
the utility model is because the gear number of teeth of body set inside is respectively identical, and therefore the rotating speed of gear is consistent, and direction is contrary, and when principal arm electrical motor is worked, absolute corner equal and opposite in direction, the direction of the angle that principal arm bar turns over and crank are contrary.
the utility model flat front end midway location on body set is connected with pick up camera by bolt, described pick up camera can note down robot various real-time condition operationally, pick up camera simultaneously has two-sided camera, can note down front and back position situation simultaneously.
accompanying drawing illustrates:
accompanying drawing 1 is structural representation of the present utility model.
detailed description of the invention:
embodiment 1:
a kind of crawler type lack of driven robot with form adaptive, its composition comprises: body set 1, described two sides, body set front end are connected with 2 drive wheel devices 9 respectively by adapter shaft, described drive wheel device is connected by the front end of adapter shaft with track frame 8, described track frame rear end is connected with guide wheel device 7 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 3 in described groove.
embodiment 2:
the crawler type lack of driven robot with form adaptive described in embodiment 1, described track frame midway location is connected with principal arm bar 6 by adapter shaft, described principal arm bar is connected with crank 5 by adapter shaft, described crank is connected with planetary wheeling mechanism 4 by adapter shaft, and on described body set, flat front end midway location is connected with pick up camera 2 by bolt.
embodiment 3:
the drive method with the crawler type lack of driven robot of form adaptive described in embodiment 1-2, first this method is the variable crawler attachments of two strips, driven by inner two main motors of body set, when the speed of two crawler attachments is identical, robot realizes advancing or retreating moving, when the speed of two crawler attachments is different, robot realizes divertical motion, when the axle of principal arm bar on track frame rotates, drive planetary wheeling mechanism rotates, thus realize the different configurations of crawler attachment, to adapt to different motions and operating environment;
described main motor drives the motion of drive wheel device, crawler attachment is rotated, described body set inside has principal arm electrical motor, described principal arm electrical motor is by the gears meshing coaxial with electrical motor, principal arm bar is driven to rotate on the one hand, on the other hand by the engagement between gear, the sprocket wheel of principal arm bar inside is driven to rotate, described sprocket wheel makes installed rows star-wheel mechanism drive crank up by chain further, because each gear number of teeth is identical respectively, therefore gear rotational speed is consistent, and direction is contrary, add that the teeth number of sprocket at chain two ends is equal, when principal arm electrical motor is worked, the absolute corner equal and opposite in direction of the angle that principal arm bar turns over and crank, direction is contrary.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520980129.3U CN205131414U (en) | 2015-12-01 | 2015-12-01 | Crawler -type underactuated robot with shape self -adaptation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520980129.3U CN205131414U (en) | 2015-12-01 | 2015-12-01 | Crawler -type underactuated robot with shape self -adaptation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205131414U true CN205131414U (en) | 2016-04-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520980129.3U Expired - Fee Related CN205131414U (en) | 2015-12-01 | 2015-12-01 | Crawler -type underactuated robot with shape self -adaptation |
Country Status (1)
| Country | Link |
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| CN (1) | CN205131414U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105292283A (en) * | 2015-12-01 | 2016-02-03 | 黑龙江科技大学 | Crawler-type underactuated robot with shape self-adaptation function and transmission method |
| CN106240663A (en) * | 2016-08-30 | 2016-12-21 | 曹昂 | The full landform of omnidirectional six takes turns creeper truck |
| WO2017210854A1 (en) * | 2016-06-07 | 2017-12-14 | 罗春晖 | Riding mechanism, and segway vehicle including same |
-
2015
- 2015-12-01 CN CN201520980129.3U patent/CN205131414U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105292283A (en) * | 2015-12-01 | 2016-02-03 | 黑龙江科技大学 | Crawler-type underactuated robot with shape self-adaptation function and transmission method |
| WO2017210854A1 (en) * | 2016-06-07 | 2017-12-14 | 罗春晖 | Riding mechanism, and segway vehicle including same |
| CN106240663A (en) * | 2016-08-30 | 2016-12-21 | 曹昂 | The full landform of omnidirectional six takes turns creeper truck |
| CN106240663B (en) * | 2016-08-30 | 2018-09-14 | 曹昂 | The full landform six of omnidirectional takes turns creeper truck |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160406 Termination date: 20161201 |