CN205220850U - Multi -functional robot that hinders more - Google Patents
Multi -functional robot that hinders more Download PDFInfo
- Publication number
- CN205220850U CN205220850U CN201521062861.9U CN201521062861U CN205220850U CN 205220850 U CN205220850 U CN 205220850U CN 201521062861 U CN201521062861 U CN 201521062861U CN 205220850 U CN205220850 U CN 205220850U
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- China
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- chassis
- obstacle
- pin
- obstacle detouring
- wheel
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Abstract
The utility model discloses a multi -functional robot that hinders more and working method, including the chassis, the bilateral symmetry on chassis is provided with at least two sets of wheel, and all wheels all drive through the wheel driving motor rather than corresponding, and the bilateral symmetry on chassis is provided with two sets of feet that hinder more at least, and all hinder the foot more and through the module motor drive rather than corresponding, hinder the foot more and for the arc structure, be provided with distance sensor on the edge of chassis direction of advance, and distance sensor and all wheel driving motor and module motor are all fixed on the chassis openly, the utility model discloses do exercises through the wheel when the level land, when meetting the obstacle, can cross the obstacle through a plurality of feet that hinder more, when getting into the aquatic, can float through the chassis to strike and go forward through hindering the foot more, the utility model discloses according to the different motion mode of different environment selection, environment adaptive capacity and work efficiency have been improved.
Description
[technical field]
The utility model relates to a kind of barrier-surpassing robot, is specifically related to a kind of multifunctional obstacle-surmounting robot.
[background technology]
In recent years, in order to liberate the labour power of people further, Robotics obtains the progress of advancing by leaps and bounds, the kind of robot constantly increases, except mainly for the manufacture of except the industrial robot of industry, have also appeared and be applied to space flight, navigation, military affairs, combat a natural disaster the miniature mobile robot in the fields such as rescue.Miniature mobile robot has become the very important branch of specialized robot due to its special demand.This kind of robot has the features such as reliability is high, strong adaptability, disguise are strong, be easy to carry, and this becomes the ideal platform performing scouting and high-risk task.Their external forms are in different poses and with different expressions, from unpiloted robot battlebus to the robot device of various bionical external form.Due to the particularity of its application, miniature mobile robot all requires obstacle detouring mostly, be faced with the landform of many unknowns, various obstacle may be run into, so just cannot ensure that robot completes relevant task, therefore improve the landform comformability of mobile robot and obstacle climbing ability and become an important research direction.
At present, the traveling gear of domestic and international robot can be divided into wheeled, leg formula, crawler type etc. by move mode.But they all also exist corresponding defect separately: wheeled construction speed is fast, control flexibly, but obstacle climbing ability is limited; Leg formula Structure adaptation ability is strong, sight might as well, but control also the most complicated, time mobile, fuselage vibrations may be comparatively large, and be unsuitable for alerting ability, occasion that rapidity requirement is high; Caterpillar mobile robot weight is large, and energy consumption is high.Because often kind of structure has merits and faults, if by two wherein kind or various structures combines, play respective advantage, make up deficiency each other, the walking performance of robot just can be made to be very significantly improved.
[utility model content]
The purpose of this utility model is to overcome above-mentioned deficiency, provides a kind of multifunctional obstacle-surmounting robot, moves with wheel when level land, carries out obstacle detouring when running into obstacle from employing leg, and utilizes the structure of chassis and leg to realize the movement in water.
In order to achieve the above object, the utility model comprises chassis, the bilateral symmetry on chassis is provided with at least two group wheels, all wheels are all driven by the wheel drive motor corresponding with it, the bilateral symmetry on chassis is provided with at least two group obstacle detouring pin, all obstacle detouring pin are driven by the module motor corresponding with it, and the edge of chassis working direction is provided with rang sensor, and rang sensor and all wheel drive motor and module motor are all fixed on front, chassis.
Described module motor comprises the obstacle detouring pin drive motor of code-disc, opto-electronic pickup and driving obstacle detouring pin.
Described obstacle detouring pin has jagged boss.
Described obstacle detouring pin is arcuate structure.
The edge on described chassis has the arcuate structure be upturned.
Distance in described one group of obstacle detouring pin between two obstacle detouring pin is greater than the distance in one group of wheel between two wheels.
Described obstacle detouring pin is connected with obstacle detouring foot support by bolt, and obstacle detouring foot support is connected with module motor with coupler by pin.
Described wheel drive motor is connected with wheel by coupler.
Described drive motor is connected with chassis by motor cabinet, and rang sensor is connected with chassis by sensor stand;
Described motor cabinet is connected by bolt and nut with chassis, and sensor stand is connected by bolt and nut with chassis.
Described wheel and obstacle detouring pin are four.
With prior art correlation ratio, the utility model is moved by wheel when level land, when running into obstacle, multiple obstacle detouring pin clear an obstacle can be passed through, when entering in water, can be floating by chassis, and to be struck advance by obstacle detouring pin, the utility model selects different mode of motion according to varying environment, improve environment-adapting ability and work efficiency, have volume little, energy consumption is low, and movable blind area is little, the flexibly advantage such as stable, total advantages of simple, is easy to realize distortion, can be widely used in the occasion of productive life.
Further, the obstacle detouring pin that module motor of the present utility model comprises code-disc, opto-electronic pickup and driving obstacle detouring pin drives electricity, machine makes motor module like this, common motor is made to have feedback, thus the phase angle of the startup of each obstacle detouring leg, stopping and rotation can be controlled, moreover motor moduleization can make easy to maintenance, easily replaces.
Further, the utility model obstacle detouring pin has jagged boss, enable obstacle detouring leg snap into the corner of obstacle when crossing over blockage, ensure obstacle detouring stability, when striking, improve the contact surface with water.
Further, the edge on the utility model chassis has the arcuate structure be upturned, and can increase the displacement of this device, and it has certain buoyancy in water, better swims on the water surface.
Further, the distance in the utility model one group of obstacle detouring pin between two obstacle detouring pin is greater than the distance in one group of wheel between two wheels, advance and crossing over blockage time more steady.
[accompanying drawing explanation]
Fig. 1 is overall assembly drowing of the present utility model;
Fig. 2 is birds-eye view of the present utility model;
Fig. 3 is left view of the present utility model.
[detailed description of the invention]
Below in conjunction with accompanying drawing, the utility model is described further.
See Fig. 1, Fig. 2 and Fig. 3, the utility model comprises chassis 14, the edge on chassis 14 has the arcuate structure be upturned, the bilateral symmetry on chassis 14 is provided with at least two group wheels, all wheels are all driven by the wheel drive motor 12 corresponding with it, the bilateral symmetry on chassis 14 is provided with at least two group obstacle detouring pin, obstacle detouring pin has jagged boss, all obstacle detouring pin are driven by the module motor corresponding with it, obstacle detouring pin is arcuate structure, the edge of chassis 14 working direction is provided with rang sensor 10, rang sensor 10 and all wheel drive motor 12 and module motor are all fixed on front, chassis 14, module motor comprises code-disc, the obstacle detouring pin drive motor of opto-electronic pickup and driving obstacle detouring pin, distance in one group of obstacle detouring pin between two obstacle detouring pin is greater than the distance in one group of wheel between two wheels, obstacle detouring pin is connected with obstacle detouring foot support 17 by bolt, obstacle detouring foot support 17 is connected with module motor with coupler 16 by pin, wheel drive motor 12 is connected with wheel by coupler 16, and drive motor 12 is connected with chassis 14 by motor cabinet, and rang sensor 10 is connected with chassis 14 by sensor stand, motor cabinet is connected by bolt and nut with chassis 14, and sensor stand is connected by bolt and nut with chassis 14.
Preferably, this device has four obstacle detouring pin and four wheels, the axial width of obstacle detouring leg is 20mm, wherein, first module motor 10 drives the first obstacle detouring pin 1, second module motor 11 drives the second obstacle detouring pin the 3, three module motor 13 to drive the 3rd obstacle detouring pin 5, and four module motor 15 drives the 4th obstacle detouring pin 7; First wheel drive motor drives the first wheel 2, second wheel drive motor to drive the second wheel 4, and the sub-drive motor of third round drives third round 6, and the sub-drive motor of fourth round drives fourth round 8.
Method of work of the present utility model, comprises following content:
During level land, wheel turns is driven by wheel drive motor 12, robot is made to carry out forward-reverse, each motor drives a wheel respectively, the horsepower output of robot can be made so large, when moment of torsion is constant, speed can increase, when robot is turned at needs, the wheel of side, chassis 14 slows down, and the wheel of opposite side accelerates;
When robot runs into preceding object, by the distance of the rang sensor 10 cognitive disorders thing in robot front, when robot and preceding object thing distance are within 50mm, obstacle detouring leg is made to start the coordinated movement of various economic factors respectively, module motor drives corresponding obstacle detouring pin to rotate, until obstacle detouring is namely when robot is again behind level land completely, rang sensor 10 identifies obstacle detouring, each obstacle detouring leg turns to initial position successively to be stopped, thus ensures that wheel drive machines people advances;
When robot enters in water, floated on the surface by chassis 14, module motor drives corresponding obstacle detouring pin to rotate, and robot can be advanced in water, makes robot realize left and right turn in water by regulating the rotating speed of both sides, chassis 14 obstacle detouring leg.
Obstacle detouring leg starts the coordinated movement of various economic factors and comprises the first obstacle detouring leg 1 and first rotate, and after rotating 120 °, the second obstacle detouring leg 3 starts to rotate; After second obstacle detouring leg 3 rotates 120 °, the 4th obstacle detouring leg 7 starts to rotate; After 4th obstacle detouring leg 7 rotates 120 °, the 3rd obstacle detouring leg 5 starts to rotate, and after the 3rd obstacle detouring leg 5 rotates 120 °, repeats to rotate to the first obstacle detouring leg 1.
Claims (10)
1. a multifunctional obstacle-surmounting robot, it is characterized in that: comprise chassis (14), the bilateral symmetry on chassis (14) is provided with at least two group wheels, all wheels are all driven by the wheel drive motor (12) corresponding with it, the bilateral symmetry on chassis (14) is provided with at least two group obstacle detouring pin, all obstacle detouring pin are driven by the module motor corresponding with it, the edge of chassis (14) working direction is provided with rang sensor (10), rang sensor (10) and all wheel drive motor (12) and module motor are all fixed on chassis (14) front.
2. a kind of multifunctional obstacle-surmounting robot according to claim 1, is characterized in that: described module motor comprises the obstacle detouring pin drive motor of code-disc, opto-electronic pickup and driving obstacle detouring pin.
3. a kind of multifunctional obstacle-surmounting robot according to claim 1, is characterized in that: described obstacle detouring pin has jagged boss.
4. a kind of multifunctional obstacle-surmounting robot according to claim 1, is characterized in that: described obstacle detouring pin is arcuate structure.
5. a kind of multifunctional obstacle-surmounting robot according to claim 1, is characterized in that: the edge of described chassis (14) has the arcuate structure be upturned.
6. a kind of multifunctional obstacle-surmounting robot according to claim 1, is characterized in that: the distance in described one group of obstacle detouring pin between two obstacle detouring pin is greater than the distance in one group of wheel between two wheels.
7. a kind of multifunctional obstacle-surmounting robot according to claim 1, it is characterized in that: described obstacle detouring pin is connected with obstacle detouring foot support (17) by bolt, obstacle detouring foot support (17) is connected with module motor with coupler (16) by pin.
8. a kind of multifunctional obstacle-surmounting robot according to claim 1, is characterized in that: described wheel drive motor (12) is connected with wheel by coupler (16).
9. a kind of multifunctional obstacle-surmounting robot according to claim 1, it is characterized in that: described drive motor (12) is connected with chassis (14) by motor cabinet, rang sensor (10) is connected with chassis (14) by sensor stand;
Described motor cabinet is connected by bolt and nut with chassis (14), and sensor stand is connected by bolt and nut with chassis (14).
10. a kind of multifunctional obstacle-surmounting robot according to claim 1, is characterized in that: described wheel and obstacle detouring pin are four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521062861.9U CN205220850U (en) | 2015-12-17 | 2015-12-17 | Multi -functional robot that hinders more |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521062861.9U CN205220850U (en) | 2015-12-17 | 2015-12-17 | Multi -functional robot that hinders more |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205220850U true CN205220850U (en) | 2016-05-11 |
Family
ID=55895936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521062861.9U Expired - Fee Related CN205220850U (en) | 2015-12-17 | 2015-12-17 | Multi -functional robot that hinders more |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205220850U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032921A (en) * | 2018-01-25 | 2018-05-15 | 天津职业技术师范大学 | A kind of wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly |
| CN110573219A (en) * | 2017-03-09 | 2019-12-13 | B·C·罗宾逊 | Underwater propelling device |
| US11926402B2 (en) | 2017-03-09 | 2024-03-12 | Brandon Robinson | Underwater propulsion device |
-
2015
- 2015-12-17 CN CN201521062861.9U patent/CN205220850U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110573219A (en) * | 2017-03-09 | 2019-12-13 | B·C·罗宾逊 | Underwater propelling device |
| CN110573219B (en) * | 2017-03-09 | 2021-10-29 | B·C·罗宾逊 | Underwater propelling device |
| CN113859450A (en) * | 2017-03-09 | 2021-12-31 | B·C·罗宾逊 | Underwater propelling device |
| CN113859450B (en) * | 2017-03-09 | 2024-01-30 | B·C·罗宾逊 | Underwater propelling device |
| US11926402B2 (en) | 2017-03-09 | 2024-03-12 | Brandon Robinson | Underwater propulsion device |
| CN108032921A (en) * | 2018-01-25 | 2018-05-15 | 天津职业技术师范大学 | A kind of wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly |
| CN108032921B (en) * | 2018-01-25 | 2024-03-15 | 天津职业技术师范大学 | Wheel device capable of crossing obstacle and vehicle type robot with wheel device |
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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: 20160511 Termination date: 20161217 |