CN209739204U

CN209739204U - Novel pneumatic wheel type obstacle avoidance robot

Info

Publication number: CN209739204U
Application number: CN201920266622.7U
Authority: CN
Inventors: 解明利; 耿彬彬; 孙萌; 杨宗鑫; 王国庆; 杜鑫明; 邢铮
Original assignee: Yanshan University
Current assignee: Yanshan University
Priority date: 2019-03-04
Filing date: 2019-03-04
Publication date: 2019-12-06
Anticipated expiration: 2029-03-04

Abstract

the utility model relates to a mobile robot field provides a novel pneumatic wheeled obstacle-avoiding robot. The device comprises a cylinder A, a cylinder B, a frame, a one-way bearing wheel, an electromagnetic directional valve, a singlechip, an ultrasonic module, an infrared probe, a relay module and the like. According to the characteristic that the one-way wheel can only rotate in one direction, the front wheel and the rear wheel realize the advancing action due to the difference of the rolling friction and the static friction force borne by the front wheel and the rear wheel in the process of extending and retracting the horizontal cylinders at the two sides. When the steering device is used for steering, the device is rotated by an angle by utilizing the matching work of the cylinders in the vertical direction and the horizontal direction of the single side and differential steering, and the purpose of steering and obstacle avoidance is achieved by repeated operation. The robot integrates the technologies of three aspects of machinery, electricity and fluid, and the gas driving mode is utilized, so that each action of the whole device is easier to control, and the device is economical and practical, high in feasibility and strong in practicability, and has certain market prospect and good economic benefit.

Description

Novel pneumatic wheel type obstacle avoidance robot

Technical Field

The invention designs a novel pneumatic wheel type obstacle avoidance robot, and relates to the field of robot research.

Background

in order to solve the practical problem that human beings are difficult to or cannot work in a narrow space or under dangerous environmental conditions, people design various forms of obstacle-avoiding autonomous walking robots. Most of the existing automatic obstacle avoidance robots are designed to move forward by being driven by a motor, the device uses a control motor, the internal mechanical transmission structure is complex, the manufacturing cost and the later maintenance cost are high, and particularly, due to the existence of radioactive and corrosive substances in a complex environment, the motor and the robot body are possibly damaged, so that the normal operation of the robot is influenced; and in the working process, the service life of some important parts is greatly shortened due to the influence of continuous working and impact vibration. Therefore, the novel pneumatic wheel type obstacle avoidance robot is designed, the purposes of automatic obstacle avoidance and intelligent control are achieved in a wheel type advancing and gas driving mode, the robot moves forward by adopting four front wheels and four rear wheels, compared with the traditional robot, the robot has higher action speed and plays a vital role under certain emergency working conditions, in addition, the pneumatic system has low cost, simple control and strong flexibility, only an air source is needed to be particularly suitable for being equipped in a modern industrial production system, the device has high automation degree, simple operation and convenient maintenance, the cost is greatly reduced compared with the traditional motor-driven robot, and the device is economical and practical in product, reliable in quality, wide in market prospect and good in economic benefit.

Disclosure of Invention

The invention aims to provide a pneumatic wheel type obstacle avoidance robot which is reliable in quality and quick in action. Compared with the traditional obstacle avoidance robot device, the service life can be greatly prolonged, and the device is safe and reliable; meanwhile, the characteristic of high wheel advancing speed is utilized, the working efficiency and the working quality of the robot can be improved, and the air source is adopted as a driving medium, so that the robot is particularly suitable for being equipped in a modern industrial production system.

In order to realize the purpose, the following technical scheme is adopted: a novel pneumatic wheel type obstacle avoidance robot mainly comprises a one-way bearing wheel A, a nylon sleeve A, a shaft A, a leg frame B, a cylinder A, a slide rail, a nylon sleeve B, a cylinder connecting frame, a cylinder support, a shaft B, a relay module, a solenoid valve, an ultrasonic module support, an infrared probe support, a rack, an electric control bottom plate, a voltage reduction module, a single chip microcomputer, a cylinder B, a one-way bearing wheel B, an infrared probe, a nylon sleeve C, a nylon sleeve D and a copper stud; the novel pneumatic wheel type obstacle avoidance robot is of a door-shaped structure as a whole, the structures of the left side and the right side are the same, and one side of the robot is taken as an example: the utility model provides a novel pneumatic wheeled autonomic obstacle avoidance device's slide rail passes through the screw and the nut is connected with the frame, and the slide rail wholly keeps the level, and cylinder support passes through the screw and the nut is connected with the frame, and cylinder B is connected through the nut of self with cylinder support, and cylinder A passes through the screw and is connected with the cylinder link, and cylinder B stretches out the end and is connected with cylinder connecting piece through the nut, and cylinder connecting piece passes through screw and nut and sliding linkage. The one-way bearing wheel A is connected to the shaft A through a key and then fixed in the middle of the leg frame A through a left nylon sleeve A and a right nylon sleeve B, so that front legs of the robot are formed, and the front legs are connected with the outer sides of the sliding rails through screws and nuts. In a similar way, the one-way bearing wheel B is connected onto the shaft B through a key, and then is fixed in the middle of the leg frame B through the left nylon sleeve C and the right nylon sleeve D, so that the rear leg of the robot is formed, and the rear leg is connected with the inner side of the sliding rail through a screw and a nut. Ultrasonic module support passes through the upper surface connection of screw and nut and frame, fix it at the left end of whole device, automatically controlled bottom plate passes through copper stud and frame upper surface connection, fix directly over the frame, the step-down module is fixed on automatically controlled bottom plate through sticky mode, be used for supplying power to the singlechip, relay module is connected with automatically controlled bottom plate, the singlechip passes through copper stud and is connected with automatically controlled bottom plate, fix the rear end at whole device, solenoid directional valve passes through screw and frame upper surface connection, fix in frame upper surface left side, infrared probe support fixes in frame lower surface left side through sticky mode, infrared probe fixes on infrared probe support through sticky mode, and become 45 jiaos with the horizontal direction.

Further, the frame is "door" template body structure, is equipped with hole and the bar hole of variation in size in the frame left and right both sides, conveniently is connected with the slide rail inboard, and the frame upper surface is equipped with the mounting hole, conveniently is connected with automatically controlled bottom plate through the copper double-screw bolt.

Furthermore, the leg frame A is of a U-shaped plate structure, and two end parts of the two sides of the leg frame A are provided with concentric circular holes for radial fixation of the shaft A.

Further, the cylinder support is of an L-shaped plate structure, mounting holes are formed in the front face and the side face of the cylinder support, and the cylinder support is conveniently connected with the rack and the cylinder B.

Further, the cylinder link is L type plate structure, and openly and the side is equipped with the round hole, conveniently with cylinder A, cylinder B and slide rail outside connection.

The device improves the action speed of the obstacle avoidance robot by using a wheel-type advancing method, and simultaneously, due to the adoption of a gas driving and electrical control method, the device has the advantages of simple overall structure, stable performance and convenience for later maintenance, is particularly suitable for being equipped in a modern industrial production system, is economical and practical, and has wide market prospect and good economic benefit.

Drawings

Fig. 1 is an axonometric view of a novel pneumatic wheel type obstacle avoidance robot.

Fig. 2 is an axial view of a frame part of the novel pneumatic wheel type obstacle avoidance robot.

Fig. 3 is a front view of a single-side leg frame part of the novel pneumatic wheel type obstacle avoidance robot.

Reference numerals:

1-one-way bearing wheel A, 2-nylon sleeve A, 3-shaft A, 4-leg A, 5-leg B, 6-cylinder A, 7-sliding rail, 8-nylon sleeve B, 9-cylinder connecting frame, 10-cylinder support, 11-shaft B, 12-relay module, 13-electromagnetic reversing valve, 14-ultrasonic module, 15-ultrasonic module support, 16-infrared probe support, 17-frame, 18-electric control bottom plate, 19-voltage reducing module, 20-single chip microcomputer, 21-cylinder B, 22-one-way bearing wheel B, 23-infrared probe, 24-nylon sleeve C, 25-nylon sleeve D, 26-copper stud

Detailed Description

The invention is further described below with reference to the accompanying drawings:

As shown in fig. 1 to 3, a novel pneumatic wheel type obstacle avoidance robot mainly includes: the device comprises a one-way bearing wheel A1, a nylon sleeve A2, a shaft A3, a leg A4, a leg B5, a cylinder A6, a slide rail 7, a nylon sleeve B8, a cylinder connecting frame 9, a cylinder bracket 10, a shaft B11, a relay module 12, an electromagnetic reversing valve 13, an ultrasonic module 14, an ultrasonic module bracket 15, an infrared probe bracket 16, a rack 17, an electronic control bottom plate 18, a voltage reduction module 19, a single chip microcomputer 20, a cylinder B21, a one-way bearing wheel B22, an infrared probe 23, a nylon sleeve C24 and a nylon sleeve D25; the novel pneumatic wheel type obstacle avoidance robot is of a door-shaped structure as a whole, the structures of the left side and the right side are the same, and one side of the robot is taken as an example: the utility model provides a novel pneumatic wheeled autonomic obstacle avoidance device's slide rail 7 passes through the screw and the nut is connected with frame 17, the slide rail wholly keeps the level, cylinder support 10 passes through the screw and the nut is connected with the frame, cylinder B21 is connected through the nut of self with cylinder support 10, cylinder A6 is connected with cylinder link 9 through the screw, cylinder B21 stretches out the end and is connected with cylinder connecting piece 9 through the nut, cylinder connecting piece 9 passes through the screw and the nut is connected with slide rail 7. The one-way bearing wheel A1 is connected on the shaft A3 through a key, and then fixed in the middle of the leg frame A4 through a left nylon sleeve A2 and a right nylon sleeve B8, so that the front leg of the robot is formed, and the front leg is connected with the outer side of the slide rail 7 through a screw and a nut. Similarly, the one-way bearing wheel B22 is connected to the shaft B11 through a key, and then fixed in the middle of the leg frame B5 through the left and right nylon sleeves C24 and the nylon sleeve D25, so as to form the rear leg of the robot, and the rear leg is connected with the inner side of the slide rail 7 through a screw and a nut. Ultrasonic module support 15 passes through the upper surface of screw and nut and frame 17 to be connected, fix it at the left end of whole device, automatically controlled bottom plate 18 passes through copper stud 26 and frame 17 upper surface to be connected, fix directly over frame 17, step-down module 19 is fixed on automatically controlled bottom plate 18 through sticky mode, be used for supplying power to the singlechip, relay module 12 is connected with automatically controlled bottom plate 18, singlechip 20 passes through copper stud and is connected with automatically controlled bottom plate 18, fix the rear end at whole device, solenoid directional valve 13 passes through screw and frame 17 upper surface to be connected, fix in frame 17 upper surface left side, infrared probe support 16 fixes in frame 17 lower surface left side through sticky mode, infrared probe 23 fixes on infrared probe support 16 through sticky mode, and becomes 45 jiaos with the horizontal direction.

Further, the frame 17 is a 'door' type plate structure, holes and strip-shaped holes with different sizes are formed in the left side and the right side of the frame 17, the frame is conveniently connected with the inner side of the sliding rail 7, and mounting holes are formed in the upper surface of the frame 17 and are conveniently connected with the electric control bottom plate 18 through copper studs 26.

Further, the leg a4 is a U-shaped plate structure, and concentric circular holes are formed at both ends of the leg for radially fixing the shaft A3.

Further, the cylinder support 10 is an L-shaped plate structure, and mounting holes are formed in the front and the side of the cylinder support, so that the cylinder support is conveniently connected with a rack and a cylinder B21.

Further, the cylinder connecting frame 9 is an L-shaped plate structure, and round holes are formed in the front face and the side face, so that the cylinder connecting frame is conveniently connected with the cylinder A6, the cylinder B21 and the outer side of the slide rail 7.

The working process of the invention is roughly as follows:

When the robot is in an environment with moderate distance between the left side and the right side and no obstacle in front, the air cylinders B21 on the two sides of the device extend out, the air cylinders B21 extend out to drive the air cylinder connecting pieces 9 to move, so that the outer sides of the sliding rails 7 connected with the air cylinder connecting pieces 9 extend out, the rolling friction force applied to the one-way bearing wheels A1 on the front legs is much smaller than the static friction force applied to the one-way bearing wheels B22 on the rear legs, and the front legs fixed on the outer sides of the sliding rails 7 move forward while the rear legs do not move. Then the cylinders B21 on both sides retract, the static friction force of the ground to the one-way bearing wheel A1 on the front leg is far larger than the rolling friction force borne by the one-way bearing wheel B22 on the rear leg, so that the rear leg is driven to advance, the front leg is kept still, and the whole advancing action is realized. When the left side of the environment where the robot is located is close to the obstacle, the robot needs to perform right turning action, at the moment, the cylinder A on the right side extends out of the ground to support two legs on the right side, the operation is different from the advancing action, then only the cylinder B21 on the left side extends out, the cylinder B on the right side retracts, the robot is enabled to rotate an angle rightwards by utilizing the difference between the moments of the ground to the left side and the moment to the right side, the sequence is repeated, and when the left side of the robot and the obstacle reach a safe distance, the cylinder A on the right side retracts to complete the right turning action and continue to advance. When the right side of the robot is close to the obstacle, the device is required to perform left-turning action, and the action principle of the device is the same as that of the device during right-turning. In the whole working process, the ultrasonic module 14 and the infrared probe 23 detect the distance between the device and the front, the distance between the device and the left side and the distance between the device and the right side, and the working state of the electromagnetic directional valve 13 is controlled according to a pre-programmed program, so that the action sequence of the cylinders A and the cylinders B on the left side and the right side is changed, the forward movement, the left rotation and the right rotation of the robot are realized, and the automatic obstacle avoidance purpose and effect are realized by continuously adjusting the action process in different environments. Compared with the prior art, the invention integrates the technologies of three aspects of machinery, electricity and fluid, utilizes a gas driving mode to enable each action of the whole device to be easier to control, and compared with the traditional foot type robot, because the rolling friction received by the wheels is much smaller than the sliding friction received by the traditional robot, the whole device can slide one step after each step under the action of inertia in the advancing process, thereby improving the action speed and the working efficiency of the robot, and being a novel high-efficiency automatic obstacle avoidance device.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.

Claims

1. The utility model provides a novel pneumatic wheeled obstacle-avoiding robot, mainly includes: the device comprises a one-way bearing wheel A, a nylon sleeve A, a shaft A, a leg frame B, a cylinder A, a sliding rail, a nylon sleeve B, a cylinder connecting frame, a cylinder bracket, a shaft B, a relay module, a solenoid valve, an ultrasonic module bracket, an infrared probe bracket, a rack, an electric control bottom plate, a voltage reduction module, a single chip microcomputer, a cylinder B, a one-way bearing wheel B, an infrared probe, a nylon sleeve C, a nylon sleeve D and a copper stud; the method is characterized in that: the novel pneumatic wheel type obstacle avoidance robot is of a door-shaped structure as a whole, the structures of the left side and the right side are the same, and one side of the robot is taken as an example: a sliding rail of a novel pneumatic wheel type autonomous obstacle avoidance device is connected with a rack through a screw and a nut, the sliding rail is integrally kept horizontal, a cylinder bracket is connected with the rack through the screw and the nut, a cylinder B is connected with the cylinder bracket through the nut, the cylinder A is connected with a cylinder connecting frame through the screw, the extending end of the cylinder B is connected with a cylinder connecting piece through the nut, the cylinder connecting piece is connected with the sliding rail through the screw and the nut, a one-way bearing wheel A is connected with a shaft A through a key, and then is fixed in the middle of a leg bracket A through a left nylon sleeve A and a right nylon sleeve B to form a front leg of a robot, the front leg is connected with the outer side of the sliding rail through the screw and the nut, similarly, the one-way bearing wheel B is connected with the shaft B through a key and then is fixed in the middle of the leg bracket B through a left nylon sleeve C and a right nylon sleeve D to form a rear leg of the, ultrasonic module support passes through the upper surface connection of screw and nut and frame, fix its left end at whole device, automatically controlled bottom plate passes through copper stud and frame upper surface connection, fix directly over the frame, the step-down module is fixed on automatically controlled bottom plate through sticky mode, the relay module is connected with automatically controlled bottom plate, the singlechip passes through copper stud and is connected with automatically controlled bottom plate, fix the rear end at whole device, solenoid directional valve passes through screw and frame upper surface connection, fix in frame upper surface left side, infrared probe support passes through sticky mode to be fixed in frame lower surface left side, infrared probe passes through sticky mode to be fixed on infrared probe support, and become 45 jiaos with the horizontal direction.

2. The novel pneumatic wheel type obstacle avoidance robot as claimed in claim 1, wherein: the frame is door type plate body structure, is equipped with hole and the bar hole of variation in size in the left and right both sides of frame, and the frame upper surface is equipped with the mounting hole.

3. the novel pneumatic wheel type obstacle avoidance robot as claimed in claim 1, wherein: the leg frame A is of a U-shaped plate structure, and two ends of the leg frame A are provided with concentric circular holes.

4. The novel pneumatic wheel type obstacle avoidance robot as claimed in claim 1, wherein: the cylinder support is of an L-shaped plate structure, and mounting holes are formed in the front face and the side face of the cylinder support.

5. The novel pneumatic wheel type obstacle avoidance robot as claimed in claim 1, wherein: the cylinder link is L type plate structure, and openly and the side is equipped with the round hole.