CN2813417Y

CN2813417Y - Lunar vehicle platform

Info

Publication number: CN2813417Y
Application number: CN 200520114937
Authority: CN
Inventors: 张军锋; 王乐宇
Original assignee: Individual
Current assignee: Individual
Priority date: 2005-07-29
Filing date: 2005-07-29
Publication date: 2006-09-06
Anticipated expiration: 2015-07-29

Abstract

The utility model relates to a lunar vehicle platform, which comprises a platform framework and a platform controller composed of a single chip computer and motor control lines, wherein the platform framework comprises a toothed upright post with an upright post motor, a middle plate guide rail, a middle plate rack bar, T-shaped tack bars, T-shaped guide rails, etc., wherein the middle plate guide rail, the middle plate rack bar and an upper plate back bearing bar form a bottom layer of the platform framework; the middle plate guide rail, the middle plate rack bar and the upper plate back bearing bar are respectively provided with directed motor supporting seats and the T-shaped guide rails facing downwards; the T-shaped guide rails are engaged and connected with the T-shaped rack bars; the toothed upright post is connected with the upper plate back bearing bar through a connecting block; the other end of the upper plate back bearing bar is connected with an upper plate bearing bar through screw bolts. The lunar vehicle platform adopts three upright posts triangle to support the platform framework as a regular by turns, making the walking stable and the gravity center low when a vehicle body is supported; the measurement control can be simplified when the utility model walks along the direction of an X axle and a Y axle, and the positioning is good; the lunar vehicle platform also has a strong adaptability to ground.

Description

Lunar rover vehicle platform

Technical field

The utility model relates to a kind of moon walk device, especially a kind of lunar rover vehicle platform.

Background technology

Robot since emerging, just has been subjected to everybody only clock with its unique function.Therefore also cause the fanaticism development of robot.In confusing robot world, divide a lower class it by profile, two classes are roughly arranged: a class is a humanoid robot, and it mainly is certain or some action of anthropomorphic dummy, and development is very perfect so far; Another kind of is robot vehicle, this robotlike be mostly for realize some specific function (as work in the hazardous environment, lunar exploration etc.).If two classes are also roughly arranged: walk and walk with wheel with leg by walking form branch.General humanoid robot is mostly with the leg walking, and robot vehicle is mostly with the wheel walking, and still, in view of the requirement easily of walking in moonscape or other special environment, only the mono-walking mode still shows shortcoming.

Summary of the invention

Technical problem to be solved in the utility model is that a kind of lunar rover vehicle platform is provided.This lunar rover vehicle platform is actually a kind of six pin robots, and what it can utilize that it respectively carries the column motor has a tooth column, in the walking that realizes under the coordination of directed motor under a plurality of degree of freedom states.For this reason, the technical scheme that the utility model solves described problem is: a kind of lunar rover vehicle platform, has the platform skeleton, the platform controller that constitutes by micro controller system and electric machine control line, wherein, described platform skeleton have have a column motor the tooth column arranged, middle panel guide, middle plate tooth bar, lattice framing behind the upper plate, the upper plate lattice framing, the base plate lattice framing, T type tooth bar, T type guide rail, wherein, by middle panel guide, middle plate tooth bar, lattice framing constitutes the bottom of described platform skeleton behind the upper plate, and panel guide in described, middle plate tooth bar, be respectively equipped with directed motor bearing behind the upper plate on the lattice framing and towards downward T type guide rail, and described T type guide rail and described T type tooth bar are connected with a joggle, described have a tooth column, be connected with lattice framing behind the described upper plate by a contiguous block, the other end of lattice framing is connected with described upper plate lattice framing by bolt behind the described upper plate.And, described platform controller, the connection terminal of micro controller system in its controller has at least six pairs of connection terminals with described column motor to be connected, and has at least two pair of wire connection terminals to be connected with the connection terminal of described directed motor.

Compared to existing technology, the good effect that the utility model produces is: unique walking manner, because it takes three columns in turn the with equilateral triangle support platform skeleton, walking is stable when making car body supported, and center of gravity is lower, when along X, Y direction walking, can make and measure the control simplification, have good positioning; Strong to ground-surface adaptive faculty, no matter be plane, curved surface, irregular or stair, irrigation canals and ditches, hag face, as long as within its stroke, can both walk; Cost is low.The structure of whole car is very simple and cost is low.In today of process technology maturation, easy to do the processing of energy; The engineering realizability is strong, can use advanced composite material to alleviate the weight of whole car on the engineering fully.

Description of drawings

Fig. 1 is a lunar rover vehicle flat-bed master TV structure scheme drawing;

Fig. 2 is a lunar rover vehicle flat-bed left side TV structure scheme drawing;

Fig. 3 is a lunar rover vehicle flat-bed plan structure scheme drawing;

Fig. 4 is the structure of block diagram scheme drawing of lunar rover vehicle platform controller;

Fig. 5 is the structure of block diagram scheme drawing of electromagnetic self-locking mechanism.

Among the figure: column 1,13,26, middle panel guide 2, middle plate tooth bar 3, lattice framing 4 behind the upper plate, upper plate lattice framing 5, base plate lattice framing 6, T type tooth bar 7, T type guide rail 8, bolt 9,11,25,

screw

12,20,21,23, column groove 10,14,19, base plate master bar 15, last panel guide 16, upper plate tooth bar 17, support of motor 18,24, contiguous block 22.

The specific embodiment

Referring to shown in accompanying drawing, a kind of lunar rover vehicle platform, has the platform skeleton, the platform controller that constitutes by micro controller system and electric machine control line, wherein, described platform skeleton have have a column motor tooth column 1 arranged, 13,26, middle panel guide 2, middle plate tooth bar 3, lattice framing 4 behind the upper plate, upper plate lattice framing 5, base plate lattice framing 6, T type tooth bar 7, T type guide rail 8, wherein, by middle panel guide 2, middle plate tooth bar 3, lattice framing 4 constitutes the bottom of described platform skeleton behind the upper plate, and panel guide 2 in described, middle plate tooth bar 3, be respectively equipped with directed motor bearing 18 behind the upper plate on the lattice framing 4 and towards downward T type guide rail 8, and described T type guide rail 8 is connected with a joggle with described T type tooth bar 7, described have a tooth column 1, be connected with lattice framing 4 behind the described upper plate by a contiguous block 22, the other end of lattice framing 4 is connected with described upper plate lattice framing 5 by bolt 11 behind the described upper plate.And, described platform controller, the connection terminal of micro controller system in its controller has at least six pairs of connection terminals with described column motor to be connected, and has at least two pair of wire connection terminals to be connected with the connection terminal of described directed motor.Specifically, three motors and three downward T shape guide rails 8 have been installed in three places of lattice framing 4 behind the middle panel guide 2 of platform skeleton, middle plate tooth bar 3, upper plate, be used for connecting three T type tooth bars 7, be arranged on motor on the column and can drive T type tooth bar 7 up-and-down movements by its motor gear and finish column " lifting " and " put " action as column 1,13,26 (also can be described as leg).T shape guide rail 8 is also finished and the connection of interlayer and relative motion simultaneously; Here the platform skeleton that said interlayer is a cross structure, it matches with T-shaped column groove 10,14,19 and realizes the relative motion of guide rail and guide groove by the motor on the column, so that whole platform skeleton realization cross travel.In like manner, the longitudinal travel of platform skeleton also is to realize by a T type guide rail and the motor that is arranged on the motor bearing 24.About described platform controller, be actually a kind of application of prior art.Here, selected the control core of AT89S51 micro controller system for use as entire circuit, corresponding to six columns (six leg), 12 mouths of micro controller system are controlled the own motor control chip of six columns respectively, voltage of each chip output comes drive motor and electromagnet, and motor and electromagnet open and close simultaneously.Other four mouths of column motor are controlled horizontal stroke, two motor control chips longitudinally respectively in addition, there is (unillustrated among a figure) button switch to be used for analog pressure sensor in addition in the bottom of each leg, also respectively there is (unillustrated among a figure) button to be used for limiting stroke at the tooth bar two ends, the signal of these 18 buttons feedbacks six columns of control respectively, the motion that amounts to eight motors of horizontal stroke, longitudinal direction.In the practice, because the above-mentioned lunar rover vehicle is subjected to restriction on the own wt, the motor that might cause being arranged on the column can't self-locking, therefore, can an electromagnetic self-locking mechanism be set at the position that column closes on motor.This self-locking mechanism can be made of electromagnet, iron plate, bungee, and inhales the purpose that the action of putting iron plate reaches self-locking by electromagnet.

Claims

1. lunar rover vehicle platform, has the platform skeleton, the platform controller that constitutes by micro controller system and electric machine control line, wherein, described platform skeleton have have a column motor the tooth column arranged, middle panel guide, middle plate tooth bar, lattice framing behind the upper plate, upper plate props up 5, the base plate lattice framing, T type tooth bar, T type guide rail, wherein, by middle panel guide, middle plate tooth bar, lattice framing constitutes the bottom of described platform skeleton behind the upper plate, and panel guide in described, middle plate tooth bar, be respectively equipped with directed motor bearing behind the upper plate on the lattice framing and towards downward T type guide rail, and described T type guide rail and described T type tooth bar are connected with a joggle, described have a tooth column, be connected with lattice framing behind the described upper plate by a contiguous block, the other end of lattice framing is connected with described upper plate lattice framing by bolt behind the described upper plate.

2. lunar rover vehicle platform according to claim 1, it is characterized in that, described platform controller, the connection terminal of micro controller system in its controller, have at least six pairs of connection terminals to be connected, have at least two pair of wire connection terminals to be connected with the connection terminal of described directed motor with described column motor.