CN1775608A - Multiple obstacle environment-adaptive combined mechanism robot device - Google Patents
Multiple obstacle environment-adaptive combined mechanism robot device Download PDFInfo
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- CN1775608A CN1775608A CN 200510122925 CN200510122925A CN1775608A CN 1775608 A CN1775608 A CN 1775608A CN 200510122925 CN200510122925 CN 200510122925 CN 200510122925 A CN200510122925 A CN 200510122925A CN 1775608 A CN1775608 A CN 1775608A
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- robot
- crawler belt
- reducing motor
- road surface
- wheel
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Abstract
The invention discloses a combined mechanism robot device adaptive to various obstruction environments, for solving various problems of the existing wheel or track robots in application. The invention has the basic functions of an ordinary obstruction crossing robot, synthetically applies the wheel and track driving forms and makes the robot able to be adaptive to various different road conditions by structure deformation, such as flat road surface, bumpy road surface, muddy road surface, and loose road surface, as well as road surface with a certain slope, and the invention fully uses the advantage of the wheel mechanism being able to rapidly run on the flat road surface condition and fully uses the advantage that the unit-area bearing force of the track is small and the road surface adhesion is large on other road surface conditions. The robot of the invention has reinforced special functions: in the course of running on the road surfaces, if meeting with obstructions: 1. if the obstruction is a ravine, the width of the ravine is less than 1/2 track length plus arm length; 2. if the obstruction is a bump, the height of the bump is lower than wheel diameter plus arm length, by continuous combined structure deformation, regulating the contact length, gravity center and pose of the robot and the ground, making the robot able to reliably cross the obstruction and not causing the robot to be blocked or immersed.
Description
Technical field
The present invention is a kind of adopt composite structure, robot device with structural distortion ability.Robot is placed various structurings or open-air uncertainty environment, can carry out normally moving, can cross the obstacle of projection, and can be by the gully of certain width.
Background technology
There is variety of issue in existing wheeled or caterpillar type robot in application.Such as, adopt wheeled robot, though can quick travel in environment, can not adapt to rugged, muddy and soft road traveling; Problems such as and caterpillar type robot though overcome problem such as being absorbed in of easily running into when wheeled robot travels on muddy and soft surface, exists moving velocity slow, and is easy to wear.
This robot device's meaning is: the basic function with common barrier-surpassing robot, integrated use therein is wheeled, two kinds of motion drive forms of crawler belt, and by structural distortion, make robot adapt to various condition of road surface, such as, smooth, rugged, muddy, soft, and certain gradient etc., on smooth road surface, make full use of the advantage that wheeled mechanism can fast running, and under other road conditions conditions, the unit area that then makes full use of crawler belt is stressed little, the advantage that road adherence is big makes and can pass through smoothly.The unique function of the enhancing that this robot has is, in the road traveling process, run into obstacle: one, obstacle is the gully, the gully width adds upperarm length less than 1/2 track length, and two, obstacle is protrusion, obstacle height is lower than the wheel footpath and adds upperarm length, by continuous unitized construction distortion, adjust robot and ground-surface length of contact, center of gravity and attitude, make robot reliably to break the barriers, can not cause robot to be blocked or to be absorbed in.
Summary of the invention
Purpose of the present invention just provides a kind of robot device that various varying environments are used that adapts to, can be under various road conditions condition, comprise that this device can both adapt to by mode of texturing, and passes through reliably under the situation in the obstacle that has projection or gully.
Technical scheme of the present invention is as follows:
A kind of composite structure robot device who is adapted to the various disorders environment, has installed by motor-driven wheel mobile body both sides, external devices such as power supply, control circuit are installed on the body, it is secondary and drive reducing motor to it is characterized in that described mobile body bilateral symmetry has been installed one group of translation, one rocker arm body respectively is installed on the translation piece of translation pair and is driven reducing motor as revolute pair, the other end of rocker arm body rotates and has connected creeper undercarriage.
Described translation pair is made up of screw rod, nut, guide rod, nut and guide rod bearing fit, and nut and screw flight cooperate, and it drives reducing motor and is installed on the body and drive screw;
Be installed with the translation piece on the nut, rocker arm body is made up of rocker shaft, rocking arm; Rocker shaft is rotatably installed on the translation piece, and its driving reducing motor is installed on the translation piece and drives rocker shaft, and rocker shaft is fixedly connected with rocking arm; This drives device spring pretightening mechanism and magnet stopper on the reducing motor output shaft, realizes self-locking by preloading spring, gets electric dropout by the magnet stopper coil and realizes release;
Creeper undercarriage is made up of crawler belt supporting device, crawler belt, drive wheel and driving reducing motor thereof, crawler belt is installed in outside the crawler belt supporting device; rocking arm one end rotates by connecting rod and crawler belt supporting device and connects, and drive wheel and driving reducing motor thereof are installed in the two ends of crawler belt supporting device.
Mobile body is the multi-layer box structure, and external devices such as power supply, control circuit are installed in the casing, and the end of rocker shaft is equipped with gear, and its output shaft that drives reducing motor is equipped with gear and is engaged with.
The present invention adopts wheeled and robot device creeper undercarriage, the wheel of four symmetrical distributions is installed under the mobile body base plate, the propulsive effort that advances or fall back is provided, at two wheels of sense of motion central axis homonymy by same group of drive control circuit drive motor separately, by on the motor of the left and right sides, distributing corresponding driving voltage, make robot finish the action of advancing, retreating or turn.
The creeper undercarriage of two symmetrical distributions is using under the situation of wheel usually, and the certain height between maintenance and the ground is not promptly worked.Crawler belt and rocking arm junction, but the reducing motor mechanism of self-locking installed, drive the attitude adjustment of crawler belt, keep and the certain angle of horizontal surface.
Rocking arm can be done the rotation near 360 degree, thereby drives any attitude adjustment of crawler belt in the space.
Drive the reducing motor mechanism of rocking arm and crawler belt rotation, under the situation that does not power up, spring pretension drg can make rocking arm and crawler belt keep holding position of self-locking.Motor get electric in, remove pretension by electromagnet and thread off, thereby drive the rotation of rocking arm and crawler belt.
Driving reducing motor of the present invention comprises motor and supporting with it retarder.
In sum, the distortion of mechanism can be accomplished:
Wheel lands, and crawler belt is unsettled with various angles.
Crawler belt lands, and body is raised, and promptly wheel is unsettled.
Crawler belt, body land simultaneously, the together support body.
Monolateral crawler belt lands, and another crawler belt is unsettled with various angles.
When crawler belt landed, track sprocket constantly drove crawler belt and rotates under the driving of reducing motor, realizes the crawler travel function.
Advantages such as apparatus of the present invention have compact conformation, simple, are easy to modularization, and control is out of shape soon easily, adapts to face width, and is safe and reliable.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a kind of enforcement structural front view of the present invention;
Fig. 3 is a kind of enforcement structure birds-eye view of the present invention;
Fig. 4 is a kind of enforcement structure left view of the present invention.
The specific embodiment
Shown in Fig. 2,3,4, wherein:
1, wheel, is symmetrically distributed in four angles of base plate by totally 4;
2, upper plate;
3, screw rod and guide bar receiver are fixed in lower shoe 8, and as plain thrust bearing;
4, rocking arm;
5, track sprocket;
6, crawler belt;
7, track propulsion motor and retarder, and the drg of device self-locking drive the track sprocket revolution;
8, lower shoe;
9, rocker shaft;
10, drive motor and the retarder that rocker shaft rotates, and the magnet stopper of device self-locking;
11, guide rod;
12, screw rod;
13, for driving the reducing motor of crawler belt supporting device 16 rotations, its reducer output shaft is installed thumb wheel, other end motor housing and Rocker arm 4 fixed installation, the magnet stopper of device self-locking on the motor shaft;
14, the supporting of standing screw and guide rod;
15, reducing motor and retarder, the drive screw rotation, thus drive translation piece front and back motion of translation;
16, be the crawler belt supporting device, drive crawler belt;
17, tab, the elasticity of adjustment crawler belt;
18, track propulsion supporting device is used to locate 5,7;
19, the supporting device of wheel decelerates motor 21;
20, wheel pivoting support;
21, the reducing motor and the retarder of drive wheels 1 rotation are with the 20 concentric installations of wheel pivoting support;
22, translation piece, translation is moving to be fixed as one with nut, and rocker shaft 9 is installed on the translation piece.
Be adapted to the composite structure robot device of various disorders environment, mobile body constitutes one by upper plate 2, lower shoe 8, has installed by motor-driven wheel 1 both sides of lower shoe 8, external devices such as power supply, control circuit are installed on the lower shoe 8, lower shoe 8 bilateral symmetry have been installed the secondary and driving reducing motor of one group of translation, one rocker arm body respectively is installed on the translation piece of translation pair and is driven reducing motor as revolute pair, the other end of rocker arm body rotates and has connected creeper undercarriage.
The translation pair is made up of screw rod 12, nut (being one with translation piece 22), guide rod 11, the two ends of screw rod 12, guide rod 11 are installed in respectively in the supporting 14 of screw rod and guide bar receiver 3, standing screw and guide rod, outside screw rod 12 Extension supports 14, nut and guide rod 11 bearing fits, nut and screw rod 12 screws thread fit, reducing motor and retarder 15 are installed on the lower shoe 8, by 12 rotations of gear matched drive screw, thereby drive translation piece 22 front and back motion of translations;
Rocker arm body is made up of rocker shaft 9, Rocker arm 4; Rocker shaft 9 is rotatably installed on the translation piece 22, the motor and the retarder 10 that drive the rocker shaft rotation are installed on the translation piece 22, and by 9 rotations of gear matched driving rocker shaft, device spring pretightening mechanism and magnet stopper on its motor output shaft, realize self-locking by preloading spring, get electric dropout by the magnet stopper coil and realize release; Rocker shaft 9 captive joint Rocker arm 4s.
Creeper undercarriage is made up of crawler belt supporting device 16, crawler belt 6, drive wheel 5 and track propulsion motor and retarder 7 etc., and rocking arm one end rotates by connecting rod and crawler belt supporting device 16 and connects.
This robot all is to finish moving of robot by wheel 1 under common situation, can finish advance, backward movement, this is basic mode of motion.
By driving rocker shaft 9, drive Rocker arm 4 and rotate, make whole creeper undercarriage lift or put down.In order to adapt to the variation of multiple pavement conditions, in the occasion of needs, pedrail mechanism puts down and contacts with ground until making the wheel built on stilts, thereby realizes coming the drive machines people to move by creeper undercarriage.
The motor mechanism of the other end installation and control pedrail mechanism attitude adjusting strip retarder of Rocker arm 4, promptly drive the reducing motor 13 of crawler belt supporting device 16 rotations, under its control, crawler belt supporting device 16 can various angles contacts fully with different surface slope, and the crawler belt on every limit all can independently be controlled, and makes robot can adapt to rugged, complicated road surface and the gradient or gradient angle variation road traveling greatly.
Cross at needs under the situation in gully,, drive translation piece 22 forward and backward moving by drive screw 12 rotations, and then drive Rocker arm 4, creeper undercarriage is made fore-and-aft adjustment, make left and right sides crawler belt be staggered front to back, thereby broadening and ground-surface length of contact reach the purpose of crossing the gully.
The driving of crawler belt 6 is by finishing track propulsion motor and retarder 7 and 5 common cooperations of track sprocket, be that power comes from track propulsion motor and retarder 7, offer track sprocket 5 by gear reduction, and track sprocket 5 adopts the aluminum alloy synchronous wheel, and 6 on crawler belt adopts two-sided timing belt to constitute.
Claims (3)
1, a kind of composite structure robot device who is adapted to the various disorders environment, has installed by motor-driven wheel mobile body both sides, external devices such as power supply, control circuit are installed on the body, it is secondary and drive reducing motor to it is characterized in that described mobile body bilateral symmetry has been installed one group of translation, one rocker arm body respectively is installed on the translation piece of translation pair and is driven reducing motor as revolute pair, the other end of rocker arm body rotates and has connected creeper undercarriage.
2, the composite structure robot device who is adapted to the various disorders environment according to claim 1, it is characterized in that described translation pair is made up of screw rod, nut, guide rod, nut and guide rod bearing fit, nut and screw flight cooperate, and it drives reducing motor and is installed on the body and drive screw;
Be installed with the translation piece on the nut, rocker arm body is made up of rocker shaft, rocking arm; Rocker shaft is rotatably installed on the translation piece, and its driving reducing motor is installed on the translation piece and drives rocker shaft, and rocker shaft is fixedly connected with rocking arm; This drives device spring pretightening mechanism and magnet stopper on the reducing motor output shaft, realizes self-locking by preloading spring, gets electric dropout by the magnet stopper coil and realizes release;
Creeper undercarriage is made up of crawler belt supporting device, crawler belt, drive wheel and driving reducing motor thereof, crawler belt is installed in outside the crawler belt supporting device; rocking arm one end rotates by connecting rod and crawler belt supporting device and connects, and drive wheel and driving reducing motor thereof are installed in the two ends of crawler belt supporting device.
3, a kind of composite structure robot device who is adapted to the various disorders environment according to claim 1, it is characterized in that mobile body is the multi-layer box structure, external device such as power supply, control circuit is installed in the casing; the end of rocker shaft is equipped with gear, and its output shaft that drives reducing motor is equipped with gear and is engaged with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101229254A CN100349772C (en) | 2005-12-05 | 2005-12-05 | Multiple obstacle environment-adaptive combined mechanism robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101229254A CN100349772C (en) | 2005-12-05 | 2005-12-05 | Multiple obstacle environment-adaptive combined mechanism robot device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1775608A true CN1775608A (en) | 2006-05-24 |
| CN100349772C CN100349772C (en) | 2007-11-21 |
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ID=36765364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005101229254A Expired - Fee Related CN100349772C (en) | 2005-12-05 | 2005-12-05 | Multiple obstacle environment-adaptive combined mechanism robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100349772C (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100572177C (en) * | 2008-04-15 | 2009-12-23 | 山东省科学院自动化研究所 | Four-wheel driving caterpillar type robot walking drive device |
| CN101797936A (en) * | 2010-03-26 | 2010-08-11 | 浙江大学 | Wheel swinging-type compound drive device for miniature mobile robot |
| CN102267503A (en) * | 2011-05-06 | 2011-12-07 | 北京航空航天大学 | Small combined robot formed by monomer throwing robots |
| CN101554890B (en) * | 2008-04-08 | 2012-01-11 | 中国矿业大学 | Rocker-type wheel and track combining robot |
| CN101734295B (en) * | 2010-02-03 | 2012-03-21 | 中国人民解放军国防科学技术大学 | Deformed caterpillar robot |
| CN102385383A (en) * | 2010-08-26 | 2012-03-21 | 村田机械株式会社 | Traveling vehicle and method of controlling the same |
| CN102424071A (en) * | 2011-11-21 | 2012-04-25 | 哈尔滨工程大学 | Track-wheel combined type mobile robot |
| CN102582706A (en) * | 2012-02-27 | 2012-07-18 | 太原理工大学 | Coal mine underground search-and-rescue detection robot moving device |
| CN103010325A (en) * | 2012-12-17 | 2013-04-03 | 北京邮电大学 | Convertible walking mechanism of robot |
| CN103332300A (en) * | 2013-06-07 | 2013-10-02 | 南京航空航天大学 | Turnable unmanned moon vehicle driven by hub motors and control method thereof |
| CN108302281A (en) * | 2018-02-21 | 2018-07-20 | 南京管科智能科技有限公司 | A kind of pipe robot driving device |
| CN113696684A (en) * | 2021-08-26 | 2021-11-26 | 中国水利水电第十二工程局有限公司 | Traveling mechanism used between mudflat photovoltaic single bodies and photovoltaic system |
| CN114278284A (en) * | 2021-12-27 | 2022-04-05 | 临沂矿业集团有限责任公司 | Unmanned mining robot original horizontal movement chassis |
| CN118082998A (en) * | 2024-04-29 | 2024-05-28 | 东北大学 | Wheel foot device suitable for muddy road and automatic following and transporting robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US4566551A (en) * | 1983-08-30 | 1986-01-28 | Feliz Jack M | Stair-climbing conveyance |
| CN87202716U (en) * | 1987-03-06 | 1988-01-13 | 赵为周 | Track type climbing-building hand-pulling luggage van |
| CN2186639Y (en) * | 1993-06-18 | 1995-01-04 | 中国科学院沈阳自动化研究所 | Robot motion carrier suitable for complicated topography |
| US6805209B2 (en) * | 2002-03-27 | 2004-10-19 | Nils Hedeen | Wheelchair motorizing apparatus |
| CN1644328A (en) * | 2005-01-31 | 2005-07-27 | 北京理工大学 | Small crawler leg composite movable robot mechanism |
-
2005
- 2005-12-05 CN CNB2005101229254A patent/CN100349772C/en not_active Expired - Fee Related
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101554890B (en) * | 2008-04-08 | 2012-01-11 | 中国矿业大学 | Rocker-type wheel and track combining robot |
| CN100572177C (en) * | 2008-04-15 | 2009-12-23 | 山东省科学院自动化研究所 | Four-wheel driving caterpillar type robot walking drive device |
| CN101734295B (en) * | 2010-02-03 | 2012-03-21 | 中国人民解放军国防科学技术大学 | Deformed caterpillar robot |
| CN101797936A (en) * | 2010-03-26 | 2010-08-11 | 浙江大学 | Wheel swinging-type compound drive device for miniature mobile robot |
| CN101797936B (en) * | 2010-03-26 | 2011-11-30 | 浙江大学 | Wheel swinging-type compound drive device for miniature mobile robot |
| CN102385383B (en) * | 2010-08-26 | 2016-06-08 | 村田机械株式会社 | The control method of Travel vehicle and Travel vehicle |
| CN102385383A (en) * | 2010-08-26 | 2012-03-21 | 村田机械株式会社 | Traveling vehicle and method of controlling the same |
| CN102267503A (en) * | 2011-05-06 | 2011-12-07 | 北京航空航天大学 | Small combined robot formed by monomer throwing robots |
| CN102267503B (en) * | 2011-05-06 | 2012-07-25 | 北京航空航天大学 | Small combined robot formed by monomer throwing robots |
| CN102424071A (en) * | 2011-11-21 | 2012-04-25 | 哈尔滨工程大学 | Track-wheel combined type mobile robot |
| CN102424071B (en) * | 2011-11-21 | 2013-04-10 | 哈尔滨工程大学 | Track-wheel combined type mobile robot |
| CN102582706A (en) * | 2012-02-27 | 2012-07-18 | 太原理工大学 | Coal mine underground search-and-rescue detection robot moving device |
| CN102582706B (en) * | 2012-02-27 | 2013-05-08 | 太原理工大学 | Coal mine underground search-and-rescue detection robot moving device |
| CN103010325A (en) * | 2012-12-17 | 2013-04-03 | 北京邮电大学 | Convertible walking mechanism of robot |
| CN103332300A (en) * | 2013-06-07 | 2013-10-02 | 南京航空航天大学 | Turnable unmanned moon vehicle driven by hub motors and control method thereof |
| CN108302281A (en) * | 2018-02-21 | 2018-07-20 | 南京管科智能科技有限公司 | A kind of pipe robot driving device |
| CN108302281B (en) * | 2018-02-21 | 2023-08-04 | 南京管科智能科技有限公司 | Pipeline robot driving device |
| CN113696684A (en) * | 2021-08-26 | 2021-11-26 | 中国水利水电第十二工程局有限公司 | Traveling mechanism used between mudflat photovoltaic single bodies and photovoltaic system |
| CN113696684B (en) * | 2021-08-26 | 2023-04-25 | 中国水利水电第十二工程局有限公司 | Running mechanism used between tidal flat photovoltaic monomers and photovoltaic system |
| CN114278284A (en) * | 2021-12-27 | 2022-04-05 | 临沂矿业集团有限责任公司 | Unmanned mining robot original horizontal movement chassis |
| CN118082998A (en) * | 2024-04-29 | 2024-05-28 | 东北大学 | Wheel foot device suitable for muddy road and automatic following and transporting robot |
| CN118082998B (en) * | 2024-04-29 | 2024-09-10 | 东北大学 | Wheel foot device suitable for muddy road and automatic following and transporting robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100349772C (en) | 2007-11-21 |
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Granted publication date: 20071121 Termination date: 20111205 |