CN104828164A - Four-section wheel-track combined intelligent obstacle-crossing robot - Google Patents
Four-section wheel-track combined intelligent obstacle-crossing robot Download PDFInfo
- Publication number
- CN104828164A CN104828164A CN201510182251.0A CN201510182251A CN104828164A CN 104828164 A CN104828164 A CN 104828164A CN 201510182251 A CN201510182251 A CN 201510182251A CN 104828164 A CN104828164 A CN 104828164A
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- wheel
- forelimb
- adapter plate
- rotate
- agent set
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- 210000003194 forelimb Anatomy 0.000 claims description 45
- 230000007704 transition Effects 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 11
- 230000035939 shock Effects 0.000 claims description 11
- 238000013016 damping Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 230000005484 gravity Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a four-section wheel-track combined intelligent obstacle-crossing robot which comprises a main body device. The main body device comprises a bottom plate, a stepping motor PLC control panel arranged on the bottom plate, a master control module, a battery, a voltage control module, a parallel port connection end and an upper housing. The main body device is provided with a wheel-type front arm capable of rotating back and forth and a front stepping motor for driving the wheel-type front arm to rotate. The main body device is provided with two rear swing arms capable of rotating back and forth. The main body device is further provided with a back servo motor for driving the rear swing arms to rotate. The outer side of the lower end of each rear swing arm is provided with a rotation base and a lower servo motor for driving the rotation base to rotate, wherein the rotation base is provided with a track module. The robot is good in obstacle-crossing performance, strong in trench-crossing capability, smooth and steady to walk, high in gravity center adjustability, suitable for more complex landform and convenient to cross obstacles; and adaptability of a robot movement mechanism to different landforms is improved.
Description
Technical field
The present invention relates to a kind of intelligent barrier-surpassing robot, relate in particular to a kind of four-part form wheel and carry out combined with intelligent barrier-surpassing robot.
Background technology
The various composite moving mechanism types that current mobile robot travel mechanism mainly contains wheeled, leg formula, crawler type and derived from by above single travel mechanism form.Single travel mechanism's form respectively has merits and faults, and composite moving mechanism is learnt from other's strong points to offset one's weaknesses in every respect and achieved the diversification of mobile robot.As everyone knows, the moving range of robot determines its applicable function, the importance of robot move mode as can be seen here.Although robot move mode is a lot, there is respective limitation at obstacle performance with on the comformability of different terrain and mobile efficiency.With regard to current in the research of Multi-sectional robot, this type of robot obstacle detouring mode existing is comparatively single, and the obstacle detouring of robot still has larger development space.
Summary of the invention
Technical matters to be solved by this invention is: provide a kind of four-part form to take turns and carry out combined with intelligent barrier-surpassing robot, this kind of robot obstacle performance is good, strong across ditch ability, smooth running, center of gravity adjustability is high, be adapted to more complicated landform, obstacle can be passed through easily, improve the comformability of robot moving mechanism to different terrain.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of four-part form wheel carries out combined with intelligent barrier-surpassing robot, comprise agent set, described agent set comprises base plate, be arranged on the main control module on base plate, battery, voltage control module, parallel port coupling end, and upper encloser, agent set be provided with can before and after rotate wheeled forelimb, and driving wheel-type forelimb rotate front stepping motor and stepping motor PLC control desk, agent set is also provided with two can before and after rotate rear-swing arm, agent set is provided with the rear servomotor driving rear-swing arm to rotate, rear-swing arm lower end outside is provided with rotation seat, and the lower servomotor driving rotation seat to rotate, rotation seat is provided with track module,
Wheeled forelimb comprises the forelimb support housing be hinged on agent set, forelimb support housing lower rotational is equipped with output shaft, the two ends that output shaft passes forelimb support housing are respectively equipped with a front-wheel, forelimb support housing is provided with front servomotor, is provided with the forelimb transmission component being connected with front servomotor and rotating with driver output axle in forelimb support housing;
Track module comprises the interior adapter plate and outer adapter plate that are oppositely arranged, interior adapter plate is connected on rotation seat, rotate between interior adapter plate and outer adapter plate and be provided with driving wheel, flower wheel, also damping is provided with between interior adapter plate and outer adapter plate, damping is provided with at least two group loadwheel assemblies, driving wheel, flower wheel and loadwheel assembly periphery are arranged with crawler belt, and outer adapter plate is provided with the crawler belt motor and retarder that drive driving wheel to rotate.
As the preferred scheme of one, between the interior adapter plate of track module and outer adapter plate, be provided with gyroscope.
As the preferred scheme of one, described damping comprises the shock mount be arranged between interior adapter plate and outer adapter plate, shock mount is hinged with the rocking bar that quantity is consistent with described loadwheel component count, rocking bar end is equipped with installation shaft, described loadwheel assembly is arranged on the mounting shaft, and shock mount is provided with the reset tension spring resetted by the rocking bar after upwards upset.
As the preferred scheme of one, described front servomotor is arranged on the front surface of forelimb support housing, forelimb transmission component comprises the drive bevel gear be connected with front servo motor output shaft, drive bevel gear be arranged on being meshed by dynamic bevel gear in forelimb support housing, First Transition gear is also arranged with by the installation shaft of dynamic bevel gear, the second transition gear be meshed with First Transition gear is provided with in forelimb support housing, the installation shaft of the second transition gear is also arranged with active synchronization belt wheel, active synchronization belt wheel is connected with the driven synchronous pulley be fixedly installed on output shaft by Timing Belt.
As the preferred scheme of one, agent set is provided with two cameras, and agent set is provided with at least two infrared tubes below camera, and camera and infrared tube for analyzing front or rear obstacle Distance geometry height, and are electrically connected with main control module.
As the preferred scheme of one, agent set is provided with two rear servomotors synchronously driving rear-swing arm to rotate at each rear-swing arm place.
The invention has the beneficial effects as follows: carry out because robot have employed four-part form wheel the structure combined, by controlling rear-swing arm and crawler belt, agent set and rear-swing arm, the angle of agent set and forelimb controls to walk, and can adapt to various different terrain.
Owing to being provided with gyroscope, as larger Ground Vibration, by gyrostatic anticipation in advance, thus control track module rotation by a small margin, to avoid robot to be subject to temporary impact,
Because robot rear-swing arm is driven by two servomotor parallel connections respectively, improve its output torque.
Because forelimb uses servomotor by two gear clusters and toothed belt transmission, can control the rotational angle of front-wheel accurately, skidding by V belt translation when transshipping or front-wheel is stuck prevents damage motor and battery.
Because the extension spring in the damping of track module makes loadwheel normality be in outside tensioning state, for crawler belt provides suitable tensile force, improve its service life.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is agent set of the present invention (removing upper encloser) and relevant portion structural representation.
Fig. 3 is front formula wheel limb (removing forelimb support housing) structural representation of the present invention.
Fig. 4 is the structural representation of rear-swing arm of the present invention and relevant portion.
Fig. 5 is the structural representation of track module inside of the present invention.
Fig. 6 is robot forward obstacle detouring schematic diagram.
Fig. 7 is the reverse obstacle detouring schematic diagram of robot.
Fig. 8 is the schematic diagram on robot walking high uneven ground low on one side on one side.
In Fig. 1 to Fig. 5: 1, agent set, 11. base plates, 12. stepping motor PLC control desks, 13. main control modules, 14. batteries, 15. parallel port coupling ends, 16. upper enclosers; 2. camera, 3. wheeled forelimb, 301. forelimb support housings, 302. output shaft, 303. front-wheels, servomotor before 304., 305. drive bevel gear, 306. by dynamic bevel gear, 307. First Transition gears, 308. second transition gears, 309. active synchronization belt wheels, 310. Timing Belts, 311. driven synchronous pulleys;
4. stepping motor before, 5. rear-swing arm, 6. after servomotor, 7. rotation seat, 8. descend servomotor, 9. track module, adapter plate in 901., 902. outer adapter plates, 903. driving wheels, 904. flower wheels, 905. loadwheel assemblies, 906. crawler belts, 907. crawler belt motors, 908. retarders, 909. gyroscopes, 910. shock mounts, 911. rocking bars, 912. installation shaft, 913. reset tension springs, 10. infrared tube.
Detailed description of the invention
Below in conjunction with accompanying drawing, describe specific embodiment of the invention scheme in detail.
As Figure 1-5, a kind of four-part form wheel carries out combined with intelligent barrier-surpassing robot, comprise agent set 1, agent set 1 comprise base plate 11, stepping motor PLC control desk 12, main control module 13, battery 14, voltage control module, parallel port coupling end 15 and the upper encloser 16 be arranged on base plate 11.Agent set 1 is provided with two cameras 2, and agent set 1 front portion is provided with two infrared tubes 10 below camera 2, and agent set 1 rear portion is provided with an infrared tube 10 below camera 2.Camera 2 and infrared tube 10 for analyzing front or rear obstacle Distance geometry height, and are electrically connected with main control module 13.On agent set 1 by front coupling assembling be provided with can before and after rotate wheeled forelimb 3 and driving wheel-type forelimb 3 rotate before stepping motor 4.On agent set 1 also by rear coupling assembling be provided with two can before and after the rear-swing arm 5 that rotates, agent set 1 is provided with two rear servomotors 6 synchronously driving rear-swing arms 5 to rotate at each rear-swing arm 5 place.The lower servomotor 8 that rear-swing arm 5 lower end outside is provided with rotation seat 7 and drives rotation seat 7 to rotate, rotation seat 7 is provided with track module 9;
Wheeled forelimb 3 comprises the forelimb support housing 301 be hinged on agent set 1, forelimb support housing 301 lower rotational is equipped with output shaft 302, the two ends that output shaft 302 passes forelimb support housing 301 are respectively equipped with a front-wheel 303, the front surface of forelimb support housing 301 is provided with front servomotor 304, is provided with and is connected with front servomotor 304 the forelimb transmission component rotated with driver output axle 302 in forelimb support housing 301.
Forelimb transmission component comprises the drive bevel gear 305 be connected with front servomotor 304 output shaft, drive bevel gear 305 be arranged on being meshed by dynamic bevel gear 306 in forelimb support housing 301, First Transition gear 307 is also arranged with by the installation shaft 912 of dynamic bevel gear, the second transition gear 308 be meshed with First Transition gear 307 is provided with in forelimb support housing 301, the installation shaft 912 of the second transition gear 308 is also arranged with active synchronization belt wheel 309, active synchronization belt wheel 309 is connected with the driven synchronous pulley 311 be fixedly installed on output shaft 302 by Timing Belt 310.
Track module 9 comprises the interior adapter plate 901 and outer adapter plate 902 that are oppositely arranged, interior adapter plate 901 is connected on rotation seat 7, rotate between interior adapter plate 901 and outer adapter plate 902 and be provided with driving wheel 903, flower wheel 904, also damping is provided with between interior adapter plate 901 and outer adapter plate 902, damping is provided with four groups of loadwheel assemblies 905, driving wheel 903, flower wheel 904 and loadwheel assembly 905 periphery are arranged with crawler belt 906, and outer adapter plate 902 is provided with the crawler belt motor 907 and retarder 908 that drive driving wheel 903 to rotate.Gyroscope 909 is provided with between interior adapter plate 901 and outer adapter plate 902.
Described damping comprises the shock mount 910 be arranged between interior adapter plate 901 and outer adapter plate 902, shock mount 910 is hinged with the rocking bar 911 that quantity is consistent with described loadwheel assembly 905 quantity, rocking bar 911 end is equipped with installation shaft 912, described loadwheel assembly 905 is arranged in installation shaft 912, and shock mount 910 is provided with the reset tension spring 913 that resets of rocking bar 911 after upwards upset.
This four-part form wheel is carried out combined with intelligent barrier-surpassing robot and is controlled to walk with the angle of wheeled forelimb 3 with rear-swing arm 5, agent set 1 with crawler belt 906, agent set 1 by controlling rear-swing arm 5, improves the comformability to different terrain:
A. time by the ground of minor swing, move on corresponding loadwheel assembly 905 is stressed, reset tension spring 913 on shock mount 910 extends, thus realize buffering.
B. as larger Ground Vibration, by the anticipation in advance of gyroscope 909, thus control track module 9 rotation by a small margin, to avoid robot to be subject to temporary impact, thus improve its Selfstabilizing performance.
C. when robot is when running into excessive slope, inclination angle, by rotating wheeled forelimb 3 and rear-swing arm 5 reduces overall barycenter, strengthening its grade climbing performance, thus realizing steadily climbing, preventing from tumbling.
D. contrast camera 2 and absorb picture and control system setup parameter when judging that higher obstacle appears in working direction, can to move on a segment distance by control, then obstacle height parameter and control system setup parameter by contrasting infrared tube 10 acquisition carry out disturbance in judgement object height degree, and obstacle height is lower than selecting forward obstacle detouring (as shown in Figure 6) during setting value; When obstacle height is higher than setting value, respectively differential is carried out to two crawler belts 906 and drive to realize turning, then reverse obstacle detouring (as shown in Figure 7), thus improve its obstacle performance.
E. as shown in Figure 8, when robot ambulation is on high low uneven ground, by rotating the rear-swing arm 5 of side, the track module 9 on this limit is made to move down to support body on one side.
F., when running into irrigation canals and ditches, the length by unfolding its each joint lengthened fuselage entirety to move across canal.
The above embodiments are the principle of illustrative the invention and effect thereof only, and the embodiment that part is used, but not for limiting the present invention; It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise of the invention, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Claims (6)
1. a four-part form wheel carries out combined with intelligent barrier-surpassing robot, comprise agent set, it is characterized in that: described agent set comprises base plate, be arranged on the main control module on base plate, battery, voltage control module, parallel port coupling end, and upper encloser, agent set be provided with can before and after rotate wheeled forelimb, and driving wheel-type forelimb rotate front stepping motor and stepping motor PLC control desk, agent set is also provided with two can before and after rotate rear-swing arm, agent set is provided with the rear servomotor driving rear-swing arm to rotate, rear-swing arm lower end outside is provided with rotation seat, and the lower servomotor driving rotation seat to rotate, rotation seat is provided with track module,
Wheeled forelimb comprises the forelimb support housing be hinged on agent set, forelimb support housing lower rotational is provided with output shaft, the two ends that output shaft passes forelimb support housing are respectively equipped with a front-wheel, forelimb support housing is provided with front servomotor, is provided with the forelimb transmission component being connected with front servomotor and rotating with driver output axle in forelimb support housing;
Track module comprises the interior adapter plate and outer adapter plate that are oppositely arranged, interior adapter plate is connected on rotation seat, rotate between interior adapter plate and outer adapter plate and be provided with driving wheel, flower wheel, also damping is provided with between interior adapter plate and outer adapter plate, damping is provided with at least two group loadwheel assemblies, driving wheel, flower wheel and loadwheel assembly periphery are arranged with crawler belt, and outer adapter plate is provided with the crawler belt motor and retarder that drive driving wheel to rotate.
2. a kind of four-part form wheel as claimed in claim 1 carries out combined with intelligent barrier-surpassing robot, it is characterized in that: be provided with gyroscope between the interior adapter plate of track module and outer adapter plate.
3. a kind of four-part form wheel as claimed in claim 1 or 2 carries out combined with intelligent barrier-surpassing robot, it is characterized in that: described damping comprises the shock mount be arranged between interior adapter plate and outer adapter plate, shock mount is hinged with the rocking bar that quantity is consistent with described loadwheel component count, rocking bar end is equipped with installation shaft, described loadwheel assembly is arranged on the mounting shaft, and shock mount is provided with the reset tension spring resetted by the rocking bar after upwards upset.
4. a kind of four-part form wheel as claimed in claim 3 carries out combined with intelligent barrier-surpassing robot, it is characterized in that: described front servomotor is arranged on the front surface of forelimb support housing, forelimb transmission component comprises the drive bevel gear be connected with front servo motor output shaft, drive bevel gear be arranged on being meshed by dynamic bevel gear in forelimb support housing, First Transition gear is also arranged with by the installation shaft of dynamic bevel gear, the second transition gear be meshed with First Transition gear is provided with in forelimb support housing, the installation shaft of the second transition gear is also arranged with active synchronization belt wheel, active synchronization belt wheel is connected with the driven synchronous pulley be fixedly installed on output shaft by Timing Belt.
5. a kind of four-part form wheel as claimed in claim 4 carries out combined with intelligent barrier-surpassing robot, it is characterized in that: agent set is provided with two cameras, agent set is provided with at least two infrared tubes below camera, camera and infrared tube for analyzing front or rear obstacle Distance geometry height, and are electrically connected with main control module.
6. a kind of four-part form wheel as claimed in claim 5 carries out combined with intelligent barrier-surpassing robot, it is characterized in that: agent set is provided with two rear servomotors synchronously driving rear-swing arm to rotate at each rear-swing arm place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510182251.0A CN104828164A (en) | 2015-04-17 | 2015-04-17 | Four-section wheel-track combined intelligent obstacle-crossing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510182251.0A CN104828164A (en) | 2015-04-17 | 2015-04-17 | Four-section wheel-track combined intelligent obstacle-crossing robot |
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| CN104828164A true CN104828164A (en) | 2015-08-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510182251.0A Pending CN104828164A (en) | 2015-04-17 | 2015-04-17 | Four-section wheel-track combined intelligent obstacle-crossing robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107006229A (en) * | 2017-03-30 | 2017-08-04 | 江苏科技大学 | A kind of sitting type hay mover rolling protection device and its guard method |
| CN107399376A (en) * | 2017-07-21 | 2017-11-28 | 钦州学院 | Suitable for the robot running gear of full landform |
| CN107891918A (en) * | 2017-12-11 | 2018-04-10 | 青岛科技大学 | Wheel combined mobile robot |
| CN108146809A (en) * | 2017-12-30 | 2018-06-12 | 傅峰峰 | A kind of intelligence turnover box |
| CN109703639A (en) * | 2018-12-03 | 2019-05-03 | 北京建筑大学 | A variable structure robot |
| CN112896348A (en) * | 2020-12-31 | 2021-06-04 | 徐州燕大传动与控制技术有限公司 | Automatic navigation three-point leveling type hydraulic active suspension chassis |
| US20230038600A1 (en) * | 2020-08-12 | 2023-02-09 | Tencent Technology (Shenzhen) Company Limited | Mechanical leg and wheeled mobile device |
| CN116552662A (en) * | 2023-02-28 | 2023-08-08 | 广州理工学院 | A kind of robot base and robot |
-
2015
- 2015-04-17 CN CN201510182251.0A patent/CN104828164A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107006229A (en) * | 2017-03-30 | 2017-08-04 | 江苏科技大学 | A kind of sitting type hay mover rolling protection device and its guard method |
| CN107399376A (en) * | 2017-07-21 | 2017-11-28 | 钦州学院 | Suitable for the robot running gear of full landform |
| CN107891918A (en) * | 2017-12-11 | 2018-04-10 | 青岛科技大学 | Wheel combined mobile robot |
| CN107891918B (en) * | 2017-12-11 | 2023-08-11 | 青岛科技大学 | Wheel-track combined mobile robot |
| CN108146809A (en) * | 2017-12-30 | 2018-06-12 | 傅峰峰 | A kind of intelligence turnover box |
| CN109703639A (en) * | 2018-12-03 | 2019-05-03 | 北京建筑大学 | A variable structure robot |
| US20230038600A1 (en) * | 2020-08-12 | 2023-02-09 | Tencent Technology (Shenzhen) Company Limited | Mechanical leg and wheeled mobile device |
| US11993123B2 (en) * | 2020-08-12 | 2024-05-28 | Tencent Technology (Shenzhen) Company Limited | Mechanical leg and wheeled mobile device |
| US12263710B2 (en) | 2020-08-12 | 2025-04-01 | Tencent Technology (Shenzhen) Company Limited | Mechanical leg and wheeled mobile device |
| CN112896348A (en) * | 2020-12-31 | 2021-06-04 | 徐州燕大传动与控制技术有限公司 | Automatic navigation three-point leveling type hydraulic active suspension chassis |
| CN116552662A (en) * | 2023-02-28 | 2023-08-08 | 广州理工学院 | A kind of robot base and robot |
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Application publication date: 20150812 |
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