CN208593448U - Full ground anthropomorphic robot - Google Patents
Full ground anthropomorphic robot Download PDFInfo
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- CN208593448U CN208593448U CN201821000021.3U CN201821000021U CN208593448U CN 208593448 U CN208593448 U CN 208593448U CN 201821000021 U CN201821000021 U CN 201821000021U CN 208593448 U CN208593448 U CN 208593448U
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Abstract
Full ground anthropomorphic robot in the utility model, it is walked using wheeled construction on flat road surface, it is walked using track structure on complicated road surface, including wheeled component part, car body, chassis system, steering gear system, controller, environmental detecting system, power-supply system and driving motor, the car body is located at the top of the chassis system；The driving motor includes Wheel type driving motor and caterpillar chassis driving motor；The chassis system includes crawler belt, synchronous pulley, chassis supports frame and caterpillar chassis driving motor, the synchronous pulley includes driving wheel and driven wheel, the caterpillar chassis driving motor is mounted on chassis supports frame, the driving wheel of the synchronous pulley is connected with the output shaft of the caterpillar chassis driving motor, the crawler belt is engaged with the synchronous pulley, drives caterpillar drive.
Description
Technical field
The utility model relates to robotic technology fields, more particularly, to a kind of full ground anthropomorphic robot.
Background technique
Currently, robot chassis generallys use crawler type or wheeled, wherein being had using caterpillar machinery to complex road surface
Powerful handling capacity, but it then can not be quickly through to flat road surface.Although and wheel machine can be quickly through flat road
Face, but to more complex road surface, for example, thick grass, broken stone road, the road surfaces such as marsh can only hang back.Therefore, make robot autonomously
Detection is carried out to foreign environment and is even climbed by itself strength across some gullies under the premise of guaranteeing its own safety
It climbs or is problem to be solved in robot field across lower steep cliff.
Utility model content
Aiming at the problems existing in the prior art, the purpose of this utility model is that proposing a kind of full ground anthropomorphic robot,
Using crawler type in such a way that wheel type combines, the full ground anthropomorphic robot in the utility model is enable to complete crawler type to wheel
The mutual switching of formula structure, i.e., its flat road surface use wheel type movement, by former and later two brackets support it is described entirely
The entire body of anthropomorphic robot, and can be realized quickly accessible pass through；It uses track structure in complex road surface, by
Sensor is obtained traffic information and then is analyzed using SCM system acquired information, is avoided based on the analysis results not
Traversable barrier, to its can across barrier take movement appropriate to cross over；In the utility model entirely
Its own height can be raised or be reduced to anthropomorphic robot, and can restore normal attitude automatically in the case where overturning.
The technical solution of the utility model is as follows:
A kind of full ground anthropomorphic robot is walked using wheeled construction on flat road surface, using track structure in complexity
Road surface walking comprising wheeled component part, car body, chassis system, steering gear system, controller, environmental detecting system, power supply system
System and driving motor, the car body are located at the top of the chassis system；The driving motor include Wheel type driving motor and
Caterpillar chassis driving motor；The chassis system is located at the lower section of the car body, and the wheeled component part includes first
Frame, second support, the first wheel and the second wheel, the first support and second support are located at the both ends of crawler type car body
Portion, the first support and second support have preset length, and the first support and second support are able to carry out rotation
Turn, be configured to support crawler type car body, first of the first support far from the car body is arranged in first wheel
The end of bracket, and rudder described in the end of second support of the second support far from the car body is arranged in second wheel
Machine system includes the first steering engine, the second steering engine, third steering engine, the 4th steering engine, the 5th steering engine and steering engine controller, the steering engine control
Device processed controls the movement of each steering engine；The environmental detecting system includes each ultrasonic distance-measuring sensor and angular transducer.
Preferably, the quantity of first wheel is two, is located at the two sides of the first support, described second
The quantity of wheel is two, is located at the two sides of the second support.
Preferably, the torsion of the 4th steering engine and second steering engine is greater than the torsion of the third steering engine and the first steering engine
Power.
Preferably, the angle between first wheel and first support is adjusted by the 5th steering engine.
Preferably, when the full ground anthropomorphic robot using track structure when complicated road surface is walked, it is wheeled by first
Front of the location of the driving motor as the full ground anthropomorphic robot, during advance when the full ground anthropomorphic robot to
When first inclination is fallen, angular transducer detects that first angle changing value, master control borad control first servo motor and carry out counterclockwise
Rotation is to realize the normal attitude for turning over to restore the full ground anthropomorphic robot；When the full ground anthropomorphic robot is rolled to second
When, the angular transducer detects second angle changing value, and master control borad control first servo motor is rotated clockwise
It turns over to restore the full ground anthropomorphic robot normal attitude to realize.
The beneficial effects of the utility model are as follows:
Compared with prior art, the full ground anthropomorphic robot in the utility model has gone out crawler belt and wheeled according to bionic design
In conjunction with motion mode so that the case where full ground anthropomorphic robot in the utility model copes with level land and complicated landform, together
When it can be changed into mobile working platform as needed, specifically, two long feet easily can raise and reduce car body height
Degree, highly raise aftercarriage can also further progress it is mobile, using robot as mobile working platform, pass through matching for two feet
Conjunction movement arbitrarily raise and reduce oneself height carry out exploration and operation, by part transformation can also across river or break
Simple bridge is made between precipice to take；The wherein constructing function of mobile working platform can install additional in actually exploration for robot
The information collection of various collection of resources facilities and survey sensors provides great convenience, and the information for collecting robot is more
Accurately in place.
Full ground anthropomorphic robot in the utility model has obstacle information detecting function, can be according to the barrier faced
The case where hindering object takes specific decision, more intelligent compared with traditional avoidance trolley and avoidance robot.
Full ground anthropomorphic robot in the utility model can be realized autonomous pose recovery, when occurring overturning feelings in use process
When condition, it can automatically take measures to be coped with to extricate oneself from a predicament.
Meanwhile because having done a large amount of work in terms of controller, sensor, driver, this is practical new
Type performance is stablized, and cost is greatly reduced.Realize obstacle information detection, throwing over barrier, across gully type obstacle, autonomous
The multiple functions such as pose recovery, mobile working platform.
Detailed description of the invention
Fig. 1 is the first structure diagram of full ground anthropomorphic robot according to the present utility model.
Fig. 2 is the second structural schematic diagram of full ground anthropomorphic robot according to the present utility model.
Fig. 3 is the third structural schematic diagram of full ground anthropomorphic robot according to the present utility model.
Fig. 4 is the 4th structural schematic diagram of full ground anthropomorphic robot according to the present utility model.
Fig. 5 is the 5th structural schematic diagram of full ground anthropomorphic robot according to the present utility model.
Fig. 6 is the 6th structural schematic diagram of full ground anthropomorphic robot according to the present utility model.
Fig. 7 is the composition schematic diagram of full ground anthropomorphic robot according to the present utility model.
Specific embodiment
The embodiments of the present invention are described in detail below in conjunction with attached drawing.
The full ground anthropomorphic robot of the utility model is walked using wheeled construction on flat road surface, using track structure
It walks on complicated road surface comprising wheeled component part, car body, chassis system, steering gear system, controller, environment detection system
System, power-supply system and driving motor, the car body are located at the top of the chassis system.The driving motor includes wheeled drive
Dynamic motor and caterpillar chassis driving motor.The chassis system is located at the lower section of the car body, and the chassis system is using shoe
Crawler type component part of the belt chassis as robot.
The caterpillar chassis driving motor is DC speed-reducing, i.e., the described caterpillar chassis uses DC speed-reducing
It is driven, to make the full ground anthropomorphic robot have complex road surface handling capacity.
The crawler body is driven using two DC speed-reducings.
Preferably, the rotation direction and speed of two DC speed-reducings are controlled, to control the full ground anthropomorphic robot
Advance, retrogressing, stopping and left and right turn.
The wheeled component part includes first support, second support, the first wheel and the second wheel, the first support
The both ends of crawler type car body are located at second support, the first support and second support have preset length, and
The first support and second support are able to carry out rotation, be configured to support crawler type car body, the first support and
The height of second support can be selected according to practical application, and the first wheel setting is separate in the first support
The end of the first support of the car body, and second of the second support far from the car body is arranged in second wheel
The end of frame；Preferably, the quantity of first wheel is 2, is located at the two sides of the first support, described second
The quantity of wheel is two, is located at the two sides of second support.
Preferably, first wheel is adhesion wheel, and first wheel relies on the first Wheel type driving motor and second
Wheel type driving motor is driven.
The steering gear system includes the first steering engine, the second steering engine, third steering engine, the 4th steering engine, the 5th steering engine and steering engine control
Device (not shown) processed, the steering engine controller control the movement of each steering engine, and the 4th steering engine and second steering engine
Torsion be greater than the third steering engine and the first steering engine torsion.
Angle between first wheel and first support is adjusted by the 5th steering engine.5th steering engine
That is the 5th servo motor.The first support includes first part, second part and Part III, the first support first
Dividing includes the first component and second component, and the first support second part has bottom and two sides.The first support
Part III has bottom and two sides.
Preferably, in the mechanical heel part of the first support, further, in the mechanical heel portion of the first support
The 4th steering engine is arranged in the main force part divided, for example, digital rudder controller, realizes the adjustment of the first support rotation position, institute
The 4th steering engine i.e. the 4th servo motor is stated, the 4th steering engine torsion is big and stability is good.In the mechanical foot of first support
Movable part with top uses third steering engine, the third steering engine, that is, third servo motor.Preferably, the third steering engine
For digital rudder controller.The third steering engine is configured to the first wheel in first support around first support axis turned position and first
The position of ultrasonic distance-measuring sensor is adjusted.
Preferably, in the mechanical heel part of the second support, further, in the mechanical heel portion of the second support
The second steering engine is arranged in the main force part divided, for example, digital rudder controller, realizes the adjustment of the rotation position of the second support,
Second steering engine i.e. the second servo motor, the second steering engine torsion is big, and stability is good.
The first steering engine is used in the movable part of the mechanical heel top of second support, first steering engine i.e. the
One servo motor.Preferably, first steering engine is digital rudder controller, and first steering engine is configured to in second support second
Wheel is adjusted around the position of the position that second support axis rotates and angular transducer.
Using steering engine controller, such as 32 road steering engine controllers, to control the angle of multiple groups steering engine.
The controller is single-chip microcontroller；Preferably, the steering engine controller is AVR single chip, to make the full landform
Robot can autonomously carry out the work of setting, and the signal incoming to ultrasonic distance-measuring sensor and angular transducer divides
Analysis controls executive component according to result, for example, caterpillar chassis driving motor, Wheel type driving motor and steering engine.
The environmental detecting system includes several ultrasonic sensors and angular transducer, is configured to help machine
People detects strange environment.
Embodiment according to the present utility model, the environmental detecting system include the first ultrasonic distance-measuring sensor and second
Ultrasonic distance-measuring sensor and third ultrasonic distance-measuring sensor, first ultrasonic distance-measuring sensor are arranged in first support
With the first wheel junction；Preferably, the front of the wheel is arranged in first ultrasonic distance-measuring sensor, further,
The quantity of first ultrasonic distance-measuring sensor is two.Second ultrasonic distance-measuring sensor and third ultrasonic distance measurement
Sensor is respectively set below the car body and at the first support, it is preferable that the second ultrasonic distance measurement sensing
Device is two, and the third ultrasonic distance-measuring sensor is two.
The inside of the car body is arranged in the angular transducer comprising gyroscope and accelerometer are configured to
Detect the angle of the car body with respect to the horizontal plane.
By the 5th steering engine, drive the ultrasonic emission port of the first ultrasonic distance-measuring sensor facing forward, and with remaining steering engine
Robot chassis supports are got up in cooperation, carry out the movement such as obstacle detouring of climbing to a higher point.
The master control borad of controller judges environmental information, example by receiving the range information of the ultrasonic sensor feedback
Such as barrier, steep cliff and gully, to realize that a series of actions is completed barrier and crossed over；Master control borad passes through receiving angle sensor
The angle information of feedback judges the posture of robot itself, so that the normal attitude for completing itself restores automatically.
The power-supply system is decompression power supply system, and the power-supply system includes battery, and the battery is configured to as root
Electric energy is provided according to the full landform robot system of the utility model.Preferably, the battery includes the first battery and the second battery,
First battery and the second battery are the model airplane battery of 11.1V, wherein the first battery passes through the first voltage reduction module for voltage
It is down within the scope of the ceiling voltage that each steering engine allows, and guarantees that each wheel electrical machine and steering engine have sufficient driving current, so as to
Guarantee that all steering engines have enough torques to rotate first support and second support and be in the full ground anthropomorphic robot
Entire car body can be supported when under wheeled state.Voltage is dropped to driving motor by the second voltage reduction module by the second battery, for example,
Drive the Wheel type driving motor of wheel and the ceiling voltage of master control borad permission, it is preferable that use the second battery for the chassis system
The driving motor of system is powered to solve the problems, such as that crawler body power consumption is more.
When the full ground anthropomorphic robot uses track structure when complicated road surface is walked, by the first Wheel type driving motor
Front of the location as the full ground anthropomorphic robot, when the full ground anthropomorphic robot is rolled to first during advance
When, angular transducer detects that first angle changing value, master control borad control first servo motor and carry out rotation counterclockwise with reality
It now turns over to restore the normal attitude of the full ground anthropomorphic robot；When the full ground anthropomorphic robot is toppled over to second side, institute
It states angular transducer and detects second angle changing value, master control borad control first servo motor is rotated clockwise to realize and turn over
Body is to restore the full ground anthropomorphic robot normal attitude.
Detailed process is as follows when the full ground anthropomorphic robot climb up and over high-rise working:
When the first ultrasonic distance-measuring sensor, front distance is detected less than the first setting value, master control borad is according to described the
The collected information of one ultrasonic sensor judges that there are barriers in front, while obtaining the full ground anthropomorphic robot and obstacle
The distance between object, master control borad issue control signal and control the movement that the full ground anthropomorphic robot executes preset across obstacle
Group is climbed to a higher point.
Preferably, the eminence of the barrier has plane, so that the car body can march to completely in the plane.
When the full ground anthropomorphic robot carries out climbing up and over high-rise working, the specific steps of which are as follows:
Step 1, that is, by the 4th servo motor, drives first support to be rotated to lift first by the 4th steering engine
Wheel stops lifting ac after the height that the height of first wheel reaches beyond the barrier highest point；
Step 2, the full ground anthropomorphic robot pass through caterpillar chassis advance pre-determined distance, the 4th steering engine, i.e. the 4th servo
Motor drives first support rotation to fall in the first wheel in barrier eminence plane；
Step 3, the second steering engine, i.e. the second servo motor, rotation drive second support, are propped up by the second support
The car body；With second support car body prop up come, to the first wheel relative to angle between first support be adjusted with
Just chassis is propped up to make its avoiding obstacles.
Step 4, the full ground anthropomorphic robot are advanced by the first wheel and the second wheel, make entire car body all aloft
In plane, completion is climbed to a higher point to act and be completed.
When the full ground anthropomorphic robot works across gully or steep cliff, the specific steps of which are as follows:
When the second ultrasonic distance-measuring sensor detects that distance is greater than the second setting value, master below the full ground anthropomorphic robot
Control plate judges that front is steep cliff or gully, master control borad hair according to the information that second ultrasonic distance-measuring sensor monitors
Out control signal control the full ground anthropomorphic robot execute preset across obstacle action group carry out it is lower.
Wherein, across steep cliff movement, specific step is as follows:
Step 1, the 4th steering engine, i.e. the 4th servo motor drive first support to be rotated, and the first wheel is made to fall in the
In one plane；
Step 2, the second steering engine, i.e. the second servo motor drive second support rotation that the second wheel is made to fall in the second plane
On, and the height of the first plane is lower than the height of the second plane；
Step 3, the full ground anthropomorphic robot are continuously advanced by the first wheel and the second wheel, until the car body is complete
Clan is to the first plane；
Preferably, during the full ground anthropomorphic robot described in step 3 is continuously advanced, the 5th steering engine, i.e., described
Five servo motors persistently adjust the position of the first wheel.
Preferably, during the full ground anthropomorphic robot described in step 3 is continuously advanced, first steering engine, i.e., first
Servo motor persistently adjusts the position of the second wheel.
The full ground anthropomorphic robot is acted across gully, and the car body is crossed over from third plane to fourth plane, and described the
There is gully between three planes and fourth plane, the specific steps of which are as follows:
Step 1, the car body are located in third plane, and by the 4th steering engine, i.e. the 4th servo motor drives first support
It is rotated, drops down onto the first wheel in fourth plane across gully；
Step 2, by the second steering engine, i.e. the second servo motor, which drives second support to carry out rotation, drops down onto the second wheel
In third plane；
Step 3, the full ground anthropomorphic robot are continuously advanced by the first wheel and the second wheel, until the ontology from
Fourth plane is reached across gully above gully.
The full ground anthropomorphic robot is walked using wheeled construction on flat road surface, using track structure on complicated road
Face walking, from crawler type to wheeled mutual handoff procedure, specific step is as follows:
The full ground anthropomorphic robot is under crawler belt form, and first wheel and the second wheel are detached from ground.
Stop after second wheel lands when the first steering engine rotates to, the 5th steering engine and the 4th steering engine rotate to first
Wheel lands, and the first support and second support collective effect support the car body to guarantee that the car body is horizontal, this is
The movement of column just completes the full ground anthropomorphic robot from crawler belt form to the switching of wheeled form.It does on this basis opposite
Movement, just completes the full ground anthropomorphic robot from wheeled form to the switching of crawler belt form.
Such as Fig. 1 to full ground anthropomorphic robot shown in fig. 7, walked using wheeled construction on flat road surface, using crawler belt
Formula structure is walked on complicated road surface comprising wheeled component part, car body 3, chassis system, steering gear system, controller, environment
Detection system, power-supply system and driving motor, the car body are located at the top of the chassis system.
The driving motor includes Wheel type driving motor and caterpillar chassis driving motor.
The chassis system is located at the lower section of the car body, and the chassis system is using caterpillar chassis as robot
Crawler type component part, the chassis system include crawler belt 2, synchronous pulley, chassis supports frame and caterpillar chassis driving motor
1。
Preferably, the caterpillar chassis driving motor 1 includes the first caterpillar chassis driving motor 11 and the second crawler belt
Formula chassis driving motor 12, each caterpillar chassis driving motor is DC speed-reducing, i.e., the described caterpillar chassis is adopted
It is driven with DC speed-reducing, to make the full ground anthropomorphic robot have complex road surface handling capacity.
The crawler body is driven using two DC speed-reducings.The crawler belt 2 includes the first crawler belt 21 and the
Two crawler belts 22.
The crawler body is that crawler frame integrates chassis, as shown in Figure 1, the chassis supports frame 4 includes first
Chassis supports frame 41 and the second chassis supports frame 42 are located at the two sides of 3 lower section of car body.Each chassis supports frame difference
Positioned at the inside of each crawler belt, described two caterpillar chassis driving motors are separately mounted on respective chassis supports frame, described
Each chassis supports frame is by fastener, for example, L-type connector, is connected to 3 lower section of car body.
The synchronous pulley includes the first synchronous pulley 51 and the second synchronous pulley 52, and first synchronous pulley includes the
One driving wheel 511 and the first follower 512, first crawler belt 21 are mounted on 511 He of the first driving wheel of the first synchronous pulley
Between first follower 512, hole 6 is provided on the first crawler belt 21, the tooth on the hole and the first synchronous pulley is intermeshed.
Second synchronous pulley includes the second driving wheel 521 and the second follower 522, and second crawler belt 22 is mounted on
Between the second driving wheel 521 and the second follower 522 of second synchronous pulley, be provided with hole 6 on the second crawler belt 22, the hole with
Tooth intermeshing on second synchronous pulley.
First driving wheel 511 of first synchronous pulley is mounted on the first caterpillar chassis driving motor 11, i.e., and first
DC speed-reducing, output shaft on, the first driven wheel 512 of first synchronous pulley is mounted on the first chassis supports frame 41
On, when the rotation of the first DC speed-reducing, the first crawler belt 21 is driven to be rotated.
Second driving wheel 521 of second synchronous pulley is mounted on the second caterpillar chassis driving motor 12, i.e., and second
DC speed-reducing, output shaft on, the second driven wheel 522 of second synchronous pulley is mounted on the second chassis supports frame 42
On, when the rotation of the second DC speed-reducing, the second crawler belt 22 is driven to be rotated.
Wherein, the first driving wheel 511 in first synchronous pulley 51 and second in second synchronous pulley 52
Follower 522 is oppositely arranged, i.e. the first driven wheel 512 in the first synchronous pulley 51 and the in second synchronous pulley 52
Two driving wheels 521 are oppositely arranged.
Preferably, the rotation direction and speed of the first DC speed-reducing and the second DC speed-reducing motor are controlled, with
Control advance, retrogressing, stopping and the left and right turn of the full ground anthropomorphic robot.
The wheeled component part includes first support 7, second support 8, the first wheel 9 and the second wheel 10, and described
One bracket 7 and second support 8 are located at the both ends of crawler type car body 3, and the first support 7 and second support 8 have pre-
If length, and the first support 7 and second support 8 are able to carry out rotation, are configured to support crawler type car body 3,
The height of the first support 7 and second support 8 can be selected according to practical application, and first wheel 9 is arranged
In the end of first support 7 of the first support 7 far from the car body 3, and second wheel 10 is arranged described second
The end of second support 8 of the bracket 8 far from the car body 3；Preferably, the quantity of first wheel 9 is 2, distinguishes position
In the two sides of the first support 7, the quantity of second wheel 10 is two, is located at the two sides of second support 8.
Wheel type driving motor first Wheel type driving motor 100, the second Wheel type driving motor 101, third in-wheel driving
Motor 102 and fourth round formula driving motor 103.Preferably, each Wheel type driving motor is DC speed-reducing.
The end of first support 7 of the first support 7 far from the car body 3 is rotatably connected to the first connection frame 13, institute
State the first Wheel type driving motor 100 and the second Wheel type driving motor 101 be separately positioned on the first connection frame two sides outside, institute
Each first wheel 9 is stated to be connected with the output shaft of the first Wheel type driving motor 100 and the second Wheel type driving motor 101 respectively.It is described
First ultrasonic distance-measuring sensor be arranged in when the first wheel lands described in outside of first connection frame 13 far from the car body 3.
First connection frame 13 is attached described first by the first post supports 131 and U-shaped supporting element 132
The lower section of first connection frame 13 and 7 junction of first support is arranged in post supports 131, is configured to described in holding
The width of first support influences to turn between the first connection frame and first support to prevent the width of the first connection frame 13 from narrowing
Dynamic flexibility ratio.Meanwhile first columnar stays frame 131 play the role of support and limit to the movement of first support Part III.
The lower end of the inside of first connection frame 13 is arranged in the U-shaped supporting element 132, the U-shaped supporting element 132
Two sides are parallel with the bottom edge of first connection frame respectively, so that the bottom edge of the U-shaped supporting element 132 is connect with described first
Frame 13 is disposed vertically, and the first support plate 133 is connected on the bottom edge of the U-shaped support frame 132, is set in first support plate 133
Set the first ultrasonic distance-measuring sensor 90.
The first end of second connection frame 14 is rotatablely connected to second support 8 by the first aluminium column far from the car body
3 end, it is preferable that the quantity of the first aluminium column is two.
The second post supports 142 are arranged in the second end of second connection frame 14, and second post supports 142 are matched
The width for keeping second support is set, to prevent the width of the second connection frame 13 from narrowing, influences the second connection frame and second
Rotation flexibility ratio between frame.
The third Wheel type driving motor 102 and fourth round formula driving motor 103 are separately positioned on the second connection frame 14
The outside of two sides, each second wheel 10 are defeated with third Wheel type driving motor 102 and fourth round formula driving motor 103 respectively
Shaft is connected.
Preferably, first wheel 9 is adhesion wheel, and first wheel relies on the first Wheel type driving motor and second
Wheel type driving motor is driven.
The steering gear system includes the first steering engine 201, the second steering engine 202, third steering engine 203, the 4th steering engine the 204, the 5th
Steering engine 205 and steering engine controller (not shown), the steering engine controller control the movement of each steering engine, and the 4th steering engine
204 and second steering engine 202 torsion be greater than the third steering engine 203 and the first steering engine 201 torsion.
Angle between first wheel and first support is adjusted by the 5th steering engine.5th steering engine
That is the 5th servo motor.The first support includes first part, second part and Part III, the first support first
Dividing includes the first component and second component, and the first support second part has bottom and two sides.The first support
Part III has bottom and two sides.
After third steering engine 203 is fixed on first support first part second component by the aluminium column at the top of it,
First support first part second component is placed in first component Shang Shi first support first part, first support first part
After one component and the overlapping of first support first part second component, by the first of first support first part the overlapping side with it is described
The first rotation connection is arranged in car body rotation connection between the first support first part and the first support second part
Portion, further, the other side of first rotating junction and the first support first part first component not connect with car body
Portion is affixed.First rotating junction be U-shaped structure, the bottom edge of the U-shaped structure of first rotating junction with first
Frame first part is affixed, the top of the U-shaped structure of first rotating junction side with first support second part respectively
Rotation connection.
4th steering engine is fixed to first support the by being located at the aluminium column of the 4th steering engine two sides by the 4th steering engine
Two sides of two parts.
It is described by the second rotating junction between the first support second part and the first support Part III
Second rotating junction arranges in pairs, each second rotating junction respectively with the first support second part and described
The rotation connection of one bracket Part III generates opposite fortune to realize between first support second part and first support Part III
It is dynamic.5th steering engine is fixed to first support Part III by being located at the aluminium column of the 5th steering engine two sides by the 5th steering engine
Two sides.
Preferably, in the mechanical heel part of the first support 7, further, in the mechanical heel of the first support
The 4th steering engine 204 is arranged in partial main force part, for example, digital rudder controller, realizes the tune of 7 rotation position of first support
Whole, the 4th steering engine 204 is the 4th servo motor, and the 4th steering engine torsion is big and stability is good.In the institute of first support
The movable part of mechanical heel top is stated using third steering engine 203, the third steering engine, that is, third servo motor.Preferably,
The third steering engine is digital rudder controller.The third steering engine is configured to the first wheel 9 in first support 7 around first support axis
Turned position and the position of the first ultrasonic distance-measuring sensor are adjusted.
The second support includes first part and second part, the second support first part include the first component and
Second component, the second support second part have bottom and two sides.First steering engine 201 is passed through into the aluminium column at the top of it
After being fixed on second support first part second component, second support first part second component is placed in second support
After first part's first component Shang Shi second support first part's first component and the overlapping of second support first part second component,
The first of second support first part overlapping side and the car body are rotatablely connected, the second support first part with it is described
Third rotating junction is set between second support second part, further, the third rotating junction and second support the
The other side of a part of first component not connecting with car body is affixed.The third rotating junction is U-shaped structure, described the
The bottom edge of the U-shaped structure of three rotating junctions and second support first part are affixed, the U-shaped structure of the third rotating junction
Top respectively with the side of second support second part be rotatablely connected.
4th steering engine is fixed to first support the by being located at the aluminium column of the 4th steering engine two sides by the 4th steering engine
Two sides of two parts.
Preferably, in the mechanical heel part of the second support 8, further, in the mechanical heel of the second support
The second steering engine 202 is arranged in partial main force part, for example, digital rudder controller, realizes the rotation position of the second support
Adjustment, second steering engine i.e. the second servo motor, the second steering engine torsion is big, and stability is good.
The first steering engine is used in the movable part of the mechanical heel top of second support, first steering engine i.e. the
One servo motor.Preferably, first steering engine 201 is digital rudder controller, and first steering engine is configured to in second support
Second wheel is adjusted around the position of the position that second support axis rotates and angular transducer.
Using steering engine controller, such as 32 road steering engine controllers, to control the angle of multiple groups steering engine.
The controller is single-chip microcontroller；Preferably, the steering engine controller is AVR single chip, to make the full landform
Robot can autonomously carry out the work of setting, and the signal incoming to ultrasonic distance-measuring sensor and angular transducer divides
Analysis controls executive component according to result, for example, caterpillar chassis driving motor, Wheel type driving motor and steering engine.
The environmental detecting system includes several ultrasonic sensors and angular transducer, is configured to help machine
People detects strange environment.
Embodiment according to the present utility model, the environmental detecting system include the first ultrasonic distance-measuring sensor 90 and the
Two ultrasonic distance-measuring sensors 91 and third ultrasonic distance-measuring sensor 92, first ultrasonic distance-measuring sensor setting is the
One bracket and the first wheel junction；Preferably, the front of the wheel is arranged in first ultrasonic distance-measuring sensor, into
One step, the quantity of first ultrasonic distance-measuring sensor are two.Second ultrasonic distance-measuring sensor and third ultrasound
Wave distance measuring sensor is respectively set below the car body and at the first support, it is preferable that second ultrasound
It is two away from sensor, and the third ultrasonic distance-measuring sensor is two.
The inside of the car body is arranged in the angular transducer 93 comprising gyroscope and accelerometer, configuration are used
In the angle of the detection car body with respect to the horizontal plane.
By the 5th steering engine 205, drive the ultrasonic emission port of the first ultrasonic distance-measuring sensor 90 facing forward, and and remaining
Robot chassis supports are got up in steering engine cooperation, carry out the movement such as obstacle detouring of climbing to a higher point.
The master control borad of controller judges environmental information, example by receiving the range information of the ultrasonic sensor feedback
Such as barrier, steep cliff and gully, to realize that a series of actions is completed barrier and crossed over；Master control borad passes through receiving angle sensor
The angle information of feedback judges the posture of robot itself, so that the normal attitude for completing itself restores automatically.
The power-supply system is decompression power supply system, and the power-supply system includes battery, and the battery is configured to as root
Electric energy is provided according to the full landform robot system of the utility model.Preferably, the battery includes the first battery and the second battery,
First battery and the second battery are the model airplane battery of 11.1V, wherein the first battery passes through the first voltage reduction module for voltage
It is down within the scope of the ceiling voltage that each steering engine allows, and guarantees that each wheel electrical machine and steering engine have sufficient driving current, so as to
Guarantee that all steering engines have enough torques to rotate first support and second support and be in the full ground anthropomorphic robot
Entire car body can be supported when under wheeled state.Voltage is dropped to driving motor by the second voltage reduction module by the second battery, for example,
Drive the Wheel type driving motor of wheel and the ceiling voltage of master control borad permission, it is preferable that use the second battery for the chassis system
The driving motor of system is powered to solve the problems, such as that crawler body power consumption is more.
The optimization, extension and substitution of the utility model:
A. optimize the barrier that mechanical structure enables robot to cross various different heights, the obstacles such as steep cliff or gully
Object；
B. lighter material is replaced to mitigate the overall weight of robot；
C. the crawler body of robot is further optimized, such as changes the material and width of crawler belt, makes its power consumption
Reduce, passage speed is faster；
D. revolving speed and the faster motor of torque and steering engine are selected, so that the sport efficiency of robot is faster, is executed in a more
Long task is more powerful and stablizes.
Finally, it should be noted that above-described each embodiment is merely to illustrate the technical solution of the utility model, rather than
It is limited；Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art
It is understood that it can still modify to technical solution documented by previous embodiment, or to part of or whole
Technical characteristic is equivalently replaced；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution the utility model
The range of each embodiment technical solution.
Claims (5)
1. a kind of full ground anthropomorphic robot is walked using wheeled construction on flat road surface, using track structure on complicated road
Face walking, it is characterised in that: it includes wheeled component part, car body, chassis system, steering gear system, controller, environment detection system
System, power-supply system and driving motor, the car body are located at the top of the chassis system；The driving motor includes wheeled drive
Dynamic motor and caterpillar chassis driving motor；The chassis system is located at the lower section of the car body,
The wheeled component part includes first support, second support, the first wheel and the second wheel, the first support and
Two brackets are located at the both ends of crawler type car body, and the first support and second support have preset length, and described
First support and second support are able to carry out rotation, are configured to support crawler type car body, and the first wheel setting exists
The end of first support of the first support far from the car body, and second wheel setting is separate in the second support
The end of the second support of the car body；
The steering gear system includes the first steering engine, the second steering engine, third steering engine, the 4th steering engine, the 5th steering engine and steering engine controller,
The steering engine controller controls the movement of each steering engine；
The environmental detecting system includes each ultrasonic distance-measuring sensor and angular transducer.
2. full ground as described in claim 1 anthropomorphic robot, it is characterised in that: the quantity of first wheel is two, point
Not Wei Yu the first support two sides, the quantity of second wheel is two, is located at the two of the second support
Side.
3. full ground as described in claim 1 anthropomorphic robot, it is characterised in that: the torsion of the 4th steering engine and second steering engine
Power is greater than the torsion of the third steering engine and the first steering engine.
4. full ground as described in claim 1 anthropomorphic robot, it is characterised in that: the folder between first wheel and first support
Angle is adjusted by the 5th steering engine.
5. the full ground anthropomorphic robot as described in any in Claims 1-4, it is characterised in that: when the full ground anthropomorphic robot is adopted
With track structure when complicated road surface is walked, it regard the location of first Wheel type driving motor as the full landform machine
The front of people, during advance when the full ground anthropomorphic robot rolls to first, angular transducer detects first jiao
Changing value is spent, master control borad control first servo motor carries out rotation counterclockwise and turns over to restore the full landform machine to realize
The normal attitude of people；When the full ground anthropomorphic robot is toppled over to second side, the angular transducer detects that second angle becomes
Change value, master control borad control first servo motor are rotated clockwise to realize and turn over restoring the full ground anthropomorphic robot just
Normal posture.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821000021.3U CN208593448U (en) | 2018-06-27 | 2018-06-27 | Full ground anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821000021.3U CN208593448U (en) | 2018-06-27 | 2018-06-27 | Full ground anthropomorphic robot |
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| Publication Number | Publication Date |
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| CN208593448U true CN208593448U (en) | 2019-03-12 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821000021.3U Expired - Fee Related CN208593448U (en) | 2018-06-27 | 2018-06-27 | Full ground anthropomorphic robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774259A (en) * | 2019-11-04 | 2020-02-11 | 海南热带海洋学院 | Complex environment positioning device |
| CN111746677A (en) * | 2020-06-29 | 2020-10-09 | 三一汽车制造有限公司 | Obstacle crossing device, tracked vehicle and obstacle crossing method |
| CN113370722A (en) * | 2021-07-29 | 2021-09-10 | 中国人民解放军国防科技大学 | Three-axis unmanned vehicle coping strategy method and system based on external emergency |
| CN115848531A (en) * | 2023-01-29 | 2023-03-28 | 江苏骠马智能工业设计研究有限公司 | Wheel type robot with winding turnover mechanism and capable of walking instead of fault |
-
2018
- 2018-06-27 CN CN201821000021.3U patent/CN208593448U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774259A (en) * | 2019-11-04 | 2020-02-11 | 海南热带海洋学院 | Complex environment positioning device |
| CN111746677A (en) * | 2020-06-29 | 2020-10-09 | 三一汽车制造有限公司 | Obstacle crossing device, tracked vehicle and obstacle crossing method |
| CN111746677B (en) * | 2020-06-29 | 2021-11-02 | 三一汽车制造有限公司 | Obstacle crossing device, tracked vehicle and obstacle crossing method |
| CN113370722A (en) * | 2021-07-29 | 2021-09-10 | 中国人民解放军国防科技大学 | Three-axis unmanned vehicle coping strategy method and system based on external emergency |
| CN113370722B (en) * | 2021-07-29 | 2022-05-27 | 中国人民解放军国防科技大学 | Three-axis unmanned vehicle coping strategy method and system based on external emergency |
| CN115848531A (en) * | 2023-01-29 | 2023-03-28 | 江苏骠马智能工业设计研究有限公司 | Wheel type robot with winding turnover mechanism and capable of walking instead of fault |
| CN115848531B (en) * | 2023-01-29 | 2023-06-02 | 江苏骠马智能工业设计研究有限公司 | Wheeled robot with winding turnover mechanism for replacing fault travelling wheels |
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Granted publication date: 20190312 Termination date: 20190627 |