CN203920969U

CN203920969U - A kind of transformable mobile robot of terrain self-adaptive

Info

Publication number: CN203920969U
Application number: CN201420344175.XU
Authority: CN
Inventors: 徐贺; 唐涛; 郭卫兴
Original assignee: Harbin Engineering University
Current assignee: Harbin Engineering University
Priority date: 2014-06-25
Filing date: 2014-06-25
Publication date: 2014-11-05
Anticipated expiration: 2024-06-25

Abstract

The utility model provides a terrain-adaptive deformable mobile robot, which includes a balance mechanism, a rocker mechanism, a steering mechanism and a rotor mechanism. Two rocker mechanisms are fixedly installed on both sides of the balance mechanism. Each rocker mechanism A steering mechanism is respectively arranged at both ends of each steering mechanism, and a rotor mechanism is arranged at the lower end of each steering mechanism. The utility model realizes the differential motion through the differential gear set of the balance mechanism to adapt to the change of rough terrain, and obtains different configurations through the change of the swing angle of the rocker of the rocker mechanism and the rotation angle of the L-shaped rod of the steering mechanism. The utility model is A deformable wheeled mobile robot with multiple degrees of freedom, variable configuration, strong ability to adapt to terrain, and stable and reliable structure.

Description

A kind of transformable mobile robot of terrain self-adaptive

Technical field

The utility model relates to a kind of mobile robot, relates in particular to a kind of transformable mobile robot of terrain self-adaptive.

Background technology

Mobile robot is widely used in the fields such as space flight, military affairs, rescue, service, amusement.When real work, can run into different terrain environments, mobile robot's landform adaptive capacity has important effect for the reliability and stability of its motion.

Mobile robot can be divided into according to the difference of walking movement mechanism: crawler type, leg formula, great-jump-forward, wheeled etc.Caterpillar mobile robot have cross country power strong, control simple advantage, but alerting ability not and traveling gear easily damage.Leg type mobile robot landform is adaptable, but mechanical construction and control system complexity, and speed is slow, poor stability.Hopping robot volume is little, compact conformation, but reliability and stability are poor.Than these, wheel type machine robot mechanism is simple, friction drag is little, speed is fast, efficiency is high, control simply, thus be widely adopted, but wheeled robot is slightly not enough on obstacle climbing ability.

Summary of the invention

The purpose of this utility model is in order to adapt to motion credibility and stability requirement, raising obstacle climbing ability and a kind of transformable mobile robot of terrain self-adaptive is provided.

The purpose of this utility model is achieved in that and comprises equalizing gear, rocker arm body, steering hardware and rotor mechanism, two rocker arm bodies are fixedly mounted on the both sides of equalizing gear, the two ends of each rocker arm body respectively arrange a steering hardware, and the lower end of each steering hardware arranges a rotor mechanism.

The utility model also comprises some architectural features like this:

1. described in, equalizing gear comprises chassis, adapter shaft a, adapter shaft b, finishing bevel gear cuter a, finishing bevel gear cuter b, finishing bevel gear cuter c and transmission shaft, finishing bevel gear cuter a is arranged on adapter shaft a, adapter shaft a is arranged on chassis by mount pad a, finishing bevel gear cuter b is arranged on adapter shaft b, adapter shaft b is arranged on chassis by mount pad b, finishing bevel gear cuter c is arranged on transmission shaft, and transmission shaft is arranged on chassis by mount pad c, finishing bevel gear cuter c while and finishing bevel gear cuter a and finishing bevel gear cuter b engagement.

2. described in, rocker arm body divides three sections, rocking arm section a is identical with the structure of rocking arm section c, comprise support, a rack-mount motor, the coupler being connected with motor, the leading screw being connected with motor by coupler and be enclosed within the nut on leading screw, also comprise connecting rod and rocking bar, one end and the nut of connecting rod are hinged, one end of the other end and rocking bar is hinged, the other end and the support of rocking bar are hinged, rocking arm section b is a plate, one end of connecting panel is fixedly connected with the support of rocking arm section a, the other end of connecting panel is fixedly connected with the support of rocking arm section b, the both sides that described two rocker arm bodies are fixedly mounted on equalizing gear refer to that the rocking arm section b of two rocker arm bodies is fixedly connected with the axle head of adapter shaft b with adapter shaft a.

3. described in, steering hardware comprises steering wheel, turns to flange cover and L shaped connecting rod, steering wheel is arranged on the end of rocking bar, the mouth of steering wheel is connected with turning to flange cover, one end of L shaped connecting rod is fixedly connected with turning to flange cover, be connected No. two motors of described rotor mechanism of the other end of L shaped connecting rod, rotor mechanism also comprises rotor flange cover and wheel, and the mouth of No. two motors is connected with rotor flange cover, and rotor flange cover is fixedly connected with wheel.

4. described in, a motor and No. two motors are the DC machine with retarder.

Compared with prior art, the beneficial effects of the utility model are: mobile robot of the present utility model obtains different configurations by the variation of the rocking bar pivot angle of rocker arm body and the L shaped bar corner of steering hardware, so can obtain multiple configuration because each degree of freedom of mobile robot has independently motor driving.Several typical configurations as: conventional configuration, is applicable to general topographic condition; Limit climbing configuration, drops to the center of gravity of robot minimum, is applicable to the landform that the gradient is higher; Original place rotates configuration, is applicable to require the situation of mobile robot's pivot stud.The required configuration of mobile robot is adjusted by control system automatically according to the variation of topographic condition, to improve reliability, the stability of walking movement.Robot can be used as the carrying platform of plurality of devices simultaneously, to meet different function needs.The utility model is that a kind of multiple degree of freedom, configuration are variable, adaptation to the ground ability is strong, Stability Analysis of Structures failure-free deformable wheeled mobile robot, can be according to the difference of topographic condition, change the machine configurations of robot, to adapt to the requirement of motion credibility and stability, improve obstacle climbing ability.

Brief description of the drawings

Fig. 1 is overall setup figure of the present utility model;

Fig. 2 is equalizing gear schematic diagram of the present utility model;

Fig. 3 is rocker arm body schematic diagram of the present utility model;

Fig. 4 is steering hardware schematic diagram of the present utility model;

Fig. 5 is wheel mechanism schematic diagram of the present utility model;

Fig. 6 is the conventional configuration schematic diagram of the utility model mobile robot;

Fig. 7 is the obstacle detouring schematic diagram under the conventional configuration of the utility model mobile robot;

Fig. 8 is the utility model mobile robot limit climbing configuration schematic diagram;

Fig. 9 is the utility model mobile robot original place rotation configuration schematic diagram.

Detailed description of the invention

Below in conjunction with accompanying drawing and detailed description of the invention, the utility model is described in further detail.

As shown in Figure 1: mobile robot of the present utility model is made up of equalizing gear 1, rocker arm body 2, steering hardware 3, wheel mechanism 4, two rocker arm bodies 2 are fixedly mounted on the both sides of equalizing gear 1, the two ends of each rocker arm body 2 respectively arrange a steering hardware 3, and the lower end of each steering hardware 3 arranges a rotor mechanism 4.

As shown in Figure 2: equalizing gear 1 comprises chassis 1-6, adapter shaft a1-1, adapter shaft b1-5, finishing bevel gear cuter a1-2, finishing bevel gear cuter b1-3, finishing bevel gear cuter c1-7 and transmission shaft 1-8, finishing bevel gear cuter a1-2 is arranged on adapter shaft a1-1, adapter shaft a1-1 is arranged on the 1-6 of chassis by mount pad a1-10, finishing bevel gear cuter b1-3 is arranged on adapter shaft b1-5, adapter shaft b1-5 is arranged on chassis by mount pad b1-1-4, finishing bevel gear cuter c1-7 is arranged on transmission shaft 1-8, transmission shaft 1-8 is arranged on the 1-6 of chassis by mount pad c1-9, finishing bevel gear cuter c1-7 while and finishing bevel gear cuter a1-2 and finishing bevel gear cuter b1-3 engagement.The number of teeth of finishing bevel gear cuter a1-2 and finishing bevel gear cuter b1-3 is 30, and the number of teeth of finishing bevel gear cuter c1-7 is 15; Equalizing gear is realized the differential of rocking arm fixing with it by both sides adapter shaft a, adapter shaft b; Mobile robot's control system hardware and other additional equipment are arranged on the 1-6 of chassis.

As shown in Figure 3: 2 points three sections of rocker arm bodies, midway location is rocking arm section b, two ends are respectively rocking arm section a and rocking arm section c, rocking arm section a is identical with the structure of rocking arm section c, comprise support 2-8, be arranged on a motor 2-2 on support 2-8, the coupler 2-3 being connected with motor 2-2, the leading screw 2-4 being connected with motor 2-2 by coupler 2-3 and be enclosed within the nut 2-5 on leading screw 2-4, also comprise connecting rod 2-6 and rocking bar 2-7, one end of connecting rod 2-6 and nut 2-5 are hinged, one end of the other end and rocking bar 2-7 is hinged, the other end of rocking bar 2-7 and support 2-8 are hinged, rocking arm section b is a plate 2-9, one end of connecting panel 2-9 is fixedly connected with the support of rocking arm section a, the other end of connecting panel is fixedly connected with the support of rocking arm section b, rocking arm section a, rocking arm section b, rocking arm section c rivets into an entirety, the both sides that described two rocker arm bodies are fixedly mounted on equalizing gear 1 refer to that the rocking arm section b of two rocker arm bodies 2 is fixedly connected with the axle head of adapter shaft b1-5 with adapter shaft a1-1.The end of leading screw 2-4 is by coupler 2-3 and be fixed on the DC machine 2-2 sports coupling with retarder on rocking arm; The rotation of motor drives travelling nut straight-line motion by leading screw, and the stroke of nut is 0-100mm, and corresponding rocking bar amplitude of oscillation angle is 0-90 °; When the rocking bar amplitude of oscillation is 90 °, when nut moves to range 100mm, the axis of motor, leading screw, rocking bar is on same straight line; When the rocking bar amplitude of oscillation is 0 °, when nut stroke 0mm, the axis of rocking bar is vertical with the axis of leading screw and motor; The steering wheel of rocking bar end and steering hardware 3 connects firmly, and the axis of steering hardware and rocking bar axis coaxle, and the variation of rocking bar pivot angle obtains different robot modelings.

As shown in Figure 4: steering hardware 3 comprises steering wheel 3-1, turns to flange cover 3-3 and L shaped connecting rod 3-2, steering wheel 3-1 is arranged on the end of rocking bar 2-7, the mouth of steering wheel 3-1 is fixedly connected with turning to flange cover 3-3, the circular arc that two arms of L shaped bar 3-2 are 22mm by radius connects, two arm projected length 72mm; One side arm end of L shaped bar is fixed with turning to flange cover 3-3, and another side arm end and wheel mechanism 4 connect firmly, and wheel mechanism is turned under the output action of steering wheel.

As shown in Figure 5: rotor mechanism 4 comprises that No. two motor 4-2, rotor flanges overlap 4-3 and wheel 4-1, the mouth of No. two motor 4-2 is connected with rotor flange cover 4-3, rotor flange cover 4-3 is fixedly connected with wheel 4-1, the wheel face axial cross section of wheel 4-1 is the circular arc of radius 80mm, can enlarge active surface in the time of contact resilient ground, required moment of torsion while simultaneously reducing wheel steering; Wheel radially maximum cross-section is the circle of radius 50mm, and the axis of steering hardware and this circle is coplanar and through its center of circle; The rotation output of DC machine 4-2 with retarder and rotor flange cover 4-3 fix; Rotor flange cover 4-3 is fixedly connected with the spoke of wheel 4-1, and each wheel can be by motor individual drive, so that higher degree of freedom and propulsive effort to be provided.

Mobile robot, owing to having multiple controollable degree of freedom, can obtain a lot of different configurations by change rocking bar pivot angle initiatively or L shaped bar corner, with the variation of adaptation to the ground condition.Several typical configurations are as: conventional configuration, limit climbing configuration, original place rotation configuration.

As shown in Figure 6: the rocking bar amplitude of oscillation is 10 °, mobile work robot is under conventional configuration, because chassis has good crossing ability and rugged ground adaptive faculty apart from the high robot that makes in ground.

As shown in Figure 7: robot is at the Obstacle Negotiation of conventional configuration, and when the near front wheel crossing over blockage, vehicle body can be lifted certain angle to upper left side.Due to the effect of equalizing gear, both sides rocking arm produces differential, makes four wheels can touch ground simultaneously, avoids the unsettled of wheel, and reliability, the stability of obstacle detouring is provided.

As shown in Figure 8: the rocking bar amplitude of oscillation is 90 °, mobile work robot is under limit climbing configuration, increase the height of gravitational center that rocking bar pivot angle is conducive to reduce robot, prevent from, when robot from moving on abrupt slope, layback or rollover occur, stability and the reliability of motion is provided.

As shown in Figure 9: the rocking bar amplitude of oscillation is 0 °, 60 ° of each steering hardware corners, make the axes intersect of four wheels in a bit, and mobile work robot rotates under configuration in original place, in the time that robot runs into the obstacle that cannot pass through, and pivot stud fast.

Claims

1. A terrain-adaptive deformable mobile robot, characterized in that: comprise a balance mechanism, a rocker mechanism, a steering mechanism and a rotor mechanism, two rocker mechanisms are fixedly installed on both sides of the balance mechanism, each rocker mechanism A steering mechanism is arranged at both ends of each steering mechanism, and a rotor mechanism is arranged at the lower end of each steering mechanism.

2. A terrain-adaptive deformable mobile robot according to claim 1, characterized in that: the balance mechanism includes a chassis, a connecting shaft a, a connecting shaft b, a bevel gear a, a bevel gear b, and a bevel gear c and the transmission shaft, the bevel gear a is installed on the connecting shaft a, the connecting shaft a is installed on the chassis through the mounting seat a, the bevel gear b is installed on the connecting shaft b, the connecting shaft b is installed on the chassis through the mounting seat b, the bevel gear c is installed on the transmission shaft, and the transmission shaft is installed on the chassis through the mounting seat c, and the bevel gear c meshes with the bevel gear a and the bevel gear b at the same time.

3. A terrain-adaptive deformable mobile robot according to claim 1 or 2, characterized in that: the rocker mechanism is divided into three sections, rocker section a and rocker section c have the same structure, including a bracket , the No. 1 motor installed on the bracket, the coupling connected with the No. 1 motor, the lead screw connected with the No. 1 motor through the coupling and the nut set on the lead screw, including the connecting rod and the rocker, and the connecting rod One end of the rod is hinged with the nut, the other end is hinged with one end of the rocker, and the other end of the rocker is hinged with the bracket. The rocker segment b is a connecting plate, and one end of the connecting plate is fixedly connected with the bracket of the rocker segment a. The connecting plate The other end of the rocker arm is fixedly connected to the bracket of the rocker arm section b, and the two rocker arm mechanisms are fixedly installed on both sides of the balance mechanism. End fixed connection.

4. A terrain-adaptive deformable mobile robot according to claim 3, characterized in that: the steering mechanism includes a steering gear, a steering flange and an L-shaped connecting rod, and the steering gear is installed at the end of the rocker , the output end of the steering gear is connected to the steering flange sleeve, one end of the L-shaped connecting rod is fixedly connected to the steering flange sleeve, and the other end of the L-shaped connecting rod is fixedly connected to the No. 2 motor of the rotor mechanism, and the rotor mechanism also includes a rotor The flange sleeve and the wheel, the output end of the No. 2 motor is connected with the rotor flange sleeve, and the rotor flange sleeve is fixedly connected with the wheel.

5. A terrain-adaptive deformable mobile robot according to claim 4, characterized in that: said No. 1 motor and No. 2 motor are DC motors with reducers.