CN204184489U - A kind of chassis structure of Small Ground Mobile Robot - Google Patents

Abstract

The utility model relates to a chassis structure of a small ground mobile robot. The chassis structure can be divided into six parts according to the functional modules: a planetary gear train transmission module, a front running leg, a middle running leg, a rear running leg, a parallelogram linkage, and a vehicle body. The utility model solves the defects of weak obstacle-surmounting ability and poor road adaptability of the small ground mobile robot running on the wheeled chassis. When crossing a ditch, there will be a problem of failure caused by a running dead point, which makes this small ground mobile robot have good road adaptability, and has good trafficability for urban streets, grasslands, mountains, steps, ditches and other road conditions.

Description

Chassis structure of a small ground mobile robot

technical field

The utility model relates to a chassis structure of a small ground mobile robot (SUGV). the

Background technique

With the development of mechatronics technology, robots are more and more widely used in our production, life, military and other aspects, and SUGV (Small Unmanned Ground Vehicle) came into being. Small ground mobile robots used for dangerous operations such as unknown area detection, military reconnaissance, and fire detection have become a hot spot in the field of ground mobile robot research due to their strong survivability, small size, low cost, and flexible movement. As related technologies become increasingly mature, small ground mobile robots have been increasingly used in military and security fields in recent years, and at the same time gradually develop into scientific detection, industrial production and other fields. However, the contradiction between the miniaturization of ground mobile robots and the ability to overcome obstacles has always been a constraint to its practical application. the

After searching the existing technology, it is found that many relatively mature small ground mobile robots (SUGV) can be divided into wheel type, crawler type, leg type, and composite chassis operation structure. They each have their own defects: the wheel type has poor ability to overcome obstacles and the ability to adapt to the road surface; the crawler type has high energy consumption, large wear, and has large ups and downs during the obstacle course, which is not stable; the leg type has complex control and slow speed; the compound type There may be dead spots in the structure, resulting in failure of the mechanism, and some cannot cross the ditch. the

To sum up, none of the existing published patents can solve the following problems well: while ensuring high-efficiency and high-speed operation, the small ground mobile robot has good road adaptability and excellent obstacle-surpassing ability; a set of reasonable The structure will not easily appear dead spots, and can adapt to various road surfaces (steps, uneven roads, ditches, etc.). the

Contents of the invention

Purpose of the invention: In view of the various shortcomings of the traditional small ground mobile robot carrying chassis, the present invention will provide a new type of robot with high efficiency, stable operation, good road adaptability, and the ability to climb slopes, cross-country, go up stairs, cross ditches, etc. Carrying chassis structure of small ground mobile robot. the

In order to achieve the above object, the technical solution adopted by the utility model is: a chassis structure of a small ground mobile robot, including a mechanical body structure and a control system, characterized in that the mechanical body mechanism has front walking legs, middle walking legs, The rear walking legs, the parallelogram linkage and the vehicle body are composed; the front walking legs and the middle walking legs are connected with the parallelogram linkage structure, and the rear walking legs and the parallelogram linkage structure are connected with each other. The vehicle body is connected; the front walking legs are divided into the same two groups, and each group of the front walking legs is composed of a planetary gear train transmission module, a front walking leg support, a walking wheel, a walking wheel support and a DC geared motor; wherein, The traveling wheel is connected to the traveling wheel bracket, and the traveling wheel bracket, the planetary gear train rotation module and the DC motor are all connected to the front traveling leg bracket, and the front traveling leg bracket is parallel to the The quadrilateral connecting rod structure is connected; the middle walking legs are divided into the same two groups, and the middle walking legs of each group are composed of ordinary wheels, middle walking leg brackets, walking wheels, walking wheel brackets and DC geared motors; wherein, the The road wheels are connected to the road wheel bracket, the DC motor is connected to the ordinary wheel, the ordinary wheel and the road wheel bracket are connected to the middle walking leg bracket, and the middle walking leg bracket is connected to the The parallelogram connecting rod structure is connected; the rear walking legs are divided into the same two groups, and the rear walking legs of each group are composed of a planetary gear train transmission module, a rear walking leg bracket, a walking wheel, a walking wheel bracket and a DC gear motor; Wherein, the traveling wheel is connected to the traveling wheel support, the traveling wheel support, the planetary gear train rotation module and the DC motor are all connected to the rear traveling leg support, and the rear traveling leg support is connected to the rear traveling leg support. The vehicle body is connected; the vehicle body is composed of a frame, a compartment, a bottom cover and two identical worm gear motors, the compartment is connected with the frame, the bottom cover is connected with the compartment, and the worm gear The reduction motor is fixed on the vehicle frame, and the worm gear reduction motor is respectively connected with the rear walking legs through the rear walking leg brackets. The parallelogram connecting rod structure is composed of a parallelogram frame, an intermediate frame and four identical worm gear motors, and the four worm gear motors are fixed on the parallelogram frame, and are connected with the front The two worm gear reducer motors corresponding to the walking legs are respectively connected to the front walking legs through the front walking leg brackets, and the two worm gear reducer motors corresponding to the middle walking legs are respectively connected through the The middle walking leg bracket is connected with the middle walking leg, and the parallelogram frame is connected with the vehicle body through the middle frame; the planetary gear train transmission module is composed of a wheel, a gear train and a planetary gear train support. The gear train is connected to the wheel after being fixed by the planetary gear train bracket, and the gear train is connected to the DC motor. Wherein, the planetary gear train transmission module and the ordinary wheel are controlled by the DC gear motor , the front walking legs, the middle walking legs and the rear walking legs are controlled by the worm gear reducer motor. the

Further, the control system is composed of a main control module, a motor drive module and a wireless remote control module; the DC geared motor and the worm geared motor are connected to the motor drive module, and the motor drive module is connected to the The main control module is connected, and the main control module is connected with the wireless remote control module. the

Further, the traveling wheels are passive wheels. the

Further, the motor drive module is an L298N motor driver, and there are 6 motor drive modules, 3 of which are connected to the DC geared motors, and each of the motor drive modules can drive two DC geared motors; 3 One is connected with the worm gear reducer motor, each of the motor drive modules can drive two worm gear reducer motors. the

Further, the main control module is a single-chip microcomputer. the

Further, the main control module, the motor drive module and the wireless remote control module are placed on the vehicle body. the

The technical effect of the utility model: the chassis structure of the small ground mobile robot combines multiple advantages, and has the following advantages at the same time (1) the ground mobile robot not only retains the characteristics of high efficiency and fast operation of the wheeled chassis, but also has the legged chassis It has a strong obstacle-surmounting ability during operation, and has good track responsiveness on the road surface at the same time. The vertical obstacle clearance height can reach 300mm (3 times the wheel height) or above. (2) Combining the "passive" and "active" obstacle-crossing forms, it is not prone to dead spots during operation, and it can pass typical obstacles such as ditches and steps. (3) It has the ability to automatically adjust the attitude, has good adhesion to the road surface, runs smoothly, and is not prone to shocks, etc. It is suitable for carrying precision instruments to expand the functions of the ground mobile robot. (4) The control principle is simple and the operation is convenient. (5) Each part is easy to realize modularization, convenient maintenance and good practicability. the

Description of drawings

Figure 1: The overall structure diagram of the chassis structure of a small ground mobile robot;

Figure 2: The overall structure diagram of the star gear train of the chassis structure of a small ground mobile robot;

Figure 3: The overall structure diagram of the front walking legs of the chassis structure of a small ground mobile robot;

Figure 4: The overall structure diagram of the middle walking leg of the chassis structure of a small ground mobile robot;

Figure 5: The overall structure of the rear walking legs of the chassis structure of a small ground mobile robot;

Figure 6: The overall structure diagram of the parallelogram linkage mechanism of the chassis structure of a small ground mobile robot;

Figure 7: The overall structure diagram of the chassis structure of a small ground mobile robot;

Figure 8: A schematic diagram of the control system of the chassis structure of a small ground mobile robot;

Figure 9: An exploded view of the chassis structure of a small ground mobile robot overcoming vertical obstacles;

Figure 10: A flow chart of the operation process of the chassis structure of a small ground mobile robot;

Among them: 1. Planetary gear train transmission module; 2. Front walking leg; 3. Middle walking leg; 4. Rear walking leg; 5. Parallelogram linkage mechanism; 6. Body; 7. Wheel; 8. Gear train; 9 1. Planetary gear train bracket; 10. Walking wheel bracket; 11. Walking wheel; 12. Front walking leg bracket; 13. DC gear motor; 14. Ordinary wheel; 15. Middle walking leg bracket; 16. Rear walking leg bracket; , parallelogram frame; 18, middle frame; 19, worm gear motor; 20, frame; 21, compartment; 22, bottom cover;

Detailed ways

Below in conjunction with accompanying drawing, further set forth the utility model. A chassis structure of a small ground mobile robot, including a mechanical body structure and a control system. The mechanical body mechanism is composed of a front walking leg 2, a middle walking leg 3, a rear walking leg 4, a parallelogram linkage mechanism 5 and a body 6; Both the front walking legs 2 and the middle walking legs 3 are connected to the parallelogram linkage structure 5, and the rear walking legs 4 and the parallelogram linkage structure 5 are all connected to the vehicle body 6; The front walking legs 2 are divided into the same two groups, and the front walking legs 2 of each group are composed of a planetary gear train transmission module 1, a front walking leg support 12, a walking wheel 11, a walking wheel support 10 and a DC reduction motor 13; wherein, Said road wheel 11 is connected with said road wheel support 10, said road wheel support 10, said planetary gear system rotation module 1 and said DC motor 13 are all connected with said front walking leg support 12, said front walking Leg support 12 is connected with described parallelogram connecting rod structure 5; Described middle walking leg 3 is divided into identical two groups, and every group described middle walking leg 3 is made of common wheel 14, middle walking leg support 15, walking wheel 11, Road wheel bracket 10 and DC reduction motor 13 are composed; wherein, described road wheel 11 is connected with described road wheel bracket 10, and described DC motor 13 is connected with described ordinary wheel 14, and described ordinary wheel 14 and described road wheel Support 10 is all connected with described middle walking leg support 15, and described middle walking leg support 15 is connected with described parallelogram connecting rod structure 5; Described back walking leg 4 is divided into identical two groups, and each group described back walking Leg 4 is made up of planetary gear train transmission module 1, rear walking leg support 16, traveling wheel 11, traveling wheel support 10 and DC reduction motor 13; Wherein, described traveling wheel 11 is connected with described traveling wheel support 10, and described walking The wheel support 10, the planetary gear train rotating module 1 and the DC motor 13 are all connected to the rear walking leg support 16, and the rear walking leg support 16 is connected to the vehicle body 6; the vehicle body is composed of a vehicle frame 20 , a compartment 21, a bottom cover 22 and two identical worm gear motors 19, the compartment 21 is connected to the frame 20, the bottom cover 22 is connected to the compartment 21, and the worm gear motor 19 It is fixed on the vehicle frame 20 , and the worm gear motors 19 are respectively connected to the rear walking legs 4 through the rear walking leg brackets 16 . Described parallelogram connecting rod structure 5 is made up of parallelogram frame 17, middle frame 18 and four identical worm gear motors 19, and four described worm gear motors 19 are fixed on described parallelogram frame 17 , and the two worm gear motors 19 corresponding to the front walking legs 2 are respectively connected to the front walking legs 2 through the front walking leg bracket 12, and the two corresponding to the middle walking legs 3 Said worm gear reducer motor 19 is respectively connected with said middle walking leg 3 through said middle walking leg support 15, and said parallelogram frame 5 is connected with said vehicle body 6 through said middle frame 18; The gear train transmission module 1 is made up of wheel 7, gear train 8 and planetary gear train support 9, and described gear train 8 is connected with described wheel 7 after being fixed by described planetary gear train support 9, and described gear train 8 is connected with described The DC motor 13 is connected; the control system is composed of a main control module, a motor drive module and a wireless remote control module; the DC reduction motor 13 and the worm gear reduction motor 19 are connected with the motor drive module, and the motor drive The module is connected with the main control module, and the main control module is connected with the wireless remote control module. Described traveling wheel 11 is passive wheel. The motor drive module is an L298N motor driver, and there are 6 motor drive modules, 3 of which are connected to the DC geared motor 13, and each of the motor drive modules can drive two DC geared motors 13; 3 Connected with the worm gear motor 19 , each motor drive module can drive two worm gear motors 19 . The main control module is a single-chip microcomputer. The main control module, the motor drive module and the wireless remote control module are placed on the vehicle body 6 . the

The operating principle of the control system of the present utility model is shown in Figure 8: in order to ensure that the parallelogram connecting rod structure 5 and the planetary gear train transmission module 1 can cooperate with each other to realize the normal walking and obstacle-crossing of the ground mobile robot and the adjustment of the posture of the walking legs To realize crossing the ditch and avoid the dead point of the linkage mechanism. The chassis structure of this ground mobile robot has 12 motors that need to be controlled. Wherein 6 are the worm gear motors 19 that control the walking legs, and 6 are the DC gear motors 13 that directly output power to the sun gear (planetary gear train transmission module) and the wheels 2. Here, the semi-automatic manual remote control method will be used to control the chassis structure of the small ground mobile robot. The control chip of the main control module uses a single-chip microcomputer. The motor drive module uses the L298N chip as the core of the module, and there are 6 motor drive modules in total, each of which can drive two DC motors 13 and two worm gear motors 19 . Use the wireless remote control module to manually transmit the control signal to the single-chip microcomputer, and the single-chip microcomputer outputs the corresponding high and low levels to the motor drive module to drive the corresponding motor action to realize the operation of the chassis structure of the small ground mobile robot. Taking the chassis structure of the small ground mobile robot as the carrier platform, a series of auxiliary functions can be developed, and the functions of the chassis structure of the small ground mobile robot can be enriched by adding corresponding expansion modules, which will not be repeated here. the

The operation process of the worm gear motor is: after the worm gear motor 19 is driven by the motor drive module, the output shaft of the worm gear motor 19 is connected with the walking legs through a hexagonal coupling, and the rotation of the worm gear motor 19 Drive the walking leg to rotate, thereby adjusting the pose of the walking leg. When the walking legs rotated to the horizontal position, the walking wheels 11 would touch the ground, so that the height of the whole car body would be reduced. In particular, when moving across the ditch, the walking legs will be laid flat, and the width of the ditch is required to be greater than the effective length of the walking legs, so that the walking legs will not fall into the ditch under the action of gravity, and the whole mechanism will fail like this. the

The process of climbing over vertical obstacles of the present invention will be described below in conjunction with FIG. 9 . The process of climbing over obstacles can be decomposed into the following 7 states. the

State 1: In this state, when the robot is driving on a horizontal road, the DC gear motor 13 drives the planetary gear train transmission module 1 and the ordinary wheel 2 to rotate. form transmission. the

State 2: This state is that the wheel 7 of the robot's front walking leg 2 touches a vertical obstacle, the wheel 7 is blocked, and the planetary gear train transmission module 1 transforms from the previous fixed-axis gear train transmission form to the planetary gear train transmission form. Under the action of the DC reduction motor 13, the entire planetary gear train support 9 is ready to flip forward. the

State three: In this state, the wheel 7 of the front walking leg 2 has been overturned, and the wheel 7 of the front walking leg 2 is pressed against the steps by the thrust generated by the ordinary wheel 14 of the middle walking leg 3 and the wheel 7 of the rear walking leg 4 , relying on its own power to break away from the support of the horizontal ground and prepare to climb upwards. the

State 4: This state is the posture in which the crossbar of the parallelogram frame 17 reaches the maximum elevation angle when climbing over the steps. Now, due to the constraint of the angle of elevation of the parallelogram frame 17, the common wheels 14 of the middle walking legs 3 are lifted up, breaking away from the constraints of the horizontal ground. Therefore, the power it generates is lost. The car body can be simplified as a single-section chassis composed of the wheels 7 of the front walking legs 2 and the wheels 7 of the rear walking legs 4. The horizontal thrust provided by the wheels 7 of the rear walking legs 4 compresses the front wheels against the vertical surface of the step. Face it. The wheel 7 of front walking leg 2 climbs upwards by the component in the vertical direction of the thrust provided by the wheel 7 of the rear walking leg 4 by its own power. the

State 5: This state is that the ordinary wheel 14 of the middle walking leg 3 touches the vertical surface of the step, and is pressed against the contact surface by the thrust provided by the forward movement of the car body. Driven by the DC deceleration motor 13, an upward climbing motion is generated. Power, the elevation angle constraints of the crossbars of the parallelogram frame 17 begin to fail at this time. the

State 6: This state is that the wheel 7 of the rear walking leg 4 touches the vertical surface of the step, the wheel 7 of the rear walking leg 4 is locked, and the planetary gear train transmission module 1 shifts from the previous fixed-axis gear train transmission form to the planetary gear The transmission form of the system is converted, and under the action of the DC gear motor, the entire planetary gear train support 9 is ready to flip forward. the

State 7: In this state, the wheel 7 of the rear walking leg 4 has been overturned, and the wheel 7 of the rear walking leg 4 is pressed against the steps under the action of traction, and is ready to climb up from the support of the horizontal ground by its own power. climb. the

Finally, the small ground mobile robot successfully crosses the obstacle, and the operation mode returns to state one again. the

As shown in Figure 10, the chassis structure operation process of this small ground mobile robot is:

(1) Effective analysis should be carried out on the road surface first; (2) When the road surface is a general continuous road surface (such as urban streets, parks, grasslands, mountains, steps, etc.), if there is no dead point during the operation that causes the mechanism to fail In this case, there is no need to make any adjustments during the entire operation. Under the combined action of the planetary gear train transmission module 1 and the parallelogram linkage mechanism 5, the chassis structure of this small ground mobile robot can fit well with the road surface, the operation is stable and effective, and the control is simple and convenient. (3) When the road surface is a general continuous road surface (such as city streets, park grass, mountains, steps, etc.), if there is a dead point during the operation, you can pass Control the corresponding worm gear reducer motor 19 to adjust the posture of the walking legs to cross the dead point to ensure that the mechanism will no longer fail, so as to achieve the purpose of continuing to run; (4) when encountering discontinuous road conditions such as ditches, it is necessary to pass the control Corresponding worm and gear reduction motor 19 adjusts the posture of walking leg, makes it put flat and reduces car body height, carries out cross ditch, and the width of ditch will be less than the effective length of walking leg.

Claims (6)

1. the chassis structure of a Small Ground Mobile Robot, comprise basic machine structure and control system, it is characterized in that, there are front walking leg (2), middle walking leg (3), rear walking leg (4), parallelogram linkage (5) and vehicle body (6) composition in described basic machine mechanism, before described, walking leg (2) is all connected with described parallelogram connection-rod structure (5) with described middle walking leg (3), and described rear walking leg (4) is all connected with described vehicle body (6) with described parallelogram connection-rod structure (5), before described, walking leg (2) is divided into identical two groups, often organizes described front walking leg (2) and is made up of planet circular system transmission module (1), front walking leg support (12), road wheel (11), road wheel support (10) and DC speed-reducing (13), wherein, described road wheel (11) is connected with described road wheel support (10), described road wheel support (10), described planet circular system rotating module (1) and described DC motor (13) are all connected with described front leg support (12) of walking, and before described, walking leg support (12) is connected with described parallelogram connection-rod structure (5), in the middle of described, walking leg (3) is divided into identical two groups, often organizes described middle walking leg (3) and is made up of common wheel (14), middle walking leg support (15), road wheel (11), road wheel support (10) and DC speed-reducing (13), wherein, described road wheel (11) is connected with described road wheel support (10), described DC motor (13) is connected with described common wheel (14), described common wheel (14) and described road wheel support (10) are all connected with described middle leg support (15) of walking, and in the middle of described, walking leg support (15) is connected with described parallelogram connection-rod structure (5), described rear walking leg (4) is divided into identical two groups, often organizes described rear walking leg (4) and is made up of planet circular system transmission module (1), rear walking leg support (16), road wheel (11), road wheel support (10) and DC speed-reducing (13), wherein, described road wheel (11) is connected with described road wheel support (10), described road wheel support (10), described planet circular system rotating module (1) and described DC motor (13) are all connected with described rear walking leg support (16), and described rear walking leg support (16) is connected with described vehicle body (6), described vehicle body is made up of vehicle frame (20), compartment (21), Worm reduction motor (19) that bottom (22) is identical with two, described compartment (21) is connected with described vehicle frame (20), described bottom (22) is connected with described compartment (21), described Worm reduction motor (19) is fixed on described vehicle frame (20), and described Worm reduction motor (19) is connected with described rear walking leg (4) respectively by described rear walking leg support (16), described parallelogram connection-rod structure (5) is by parallelogram frame (17), Worm reduction motor (19) composition that intermediate stand (18) He Sitai is identical, four described Worm reduction motors (19) are fixed on described parallelogram frame (17), and two the described Worm reduction motors (19) corresponding with described front leg (2) of walking are connected with described front leg (2) of walking respectively by described front leg support (12) of walking, two the described Worm reduction motors (19) corresponding with described middle leg (3) of walking are connected with described middle leg (3) of walking respectively by described middle leg support (15) of walking, described parallelogram frame (5) is connected with described vehicle body (6) by described intermediate stand (18), described planet circular system transmission module (1) is made up of wheel (7), train of gears (8) and planet circular system support (9), be connected with described wheel (7) after described train of gears (8) is fixing by described planet circular system support (9), described train of gears (8) is connected with described DC motor (13).

2. the chassis structure of a kind of Small Ground Mobile Robot according to claim 1, is characterized in that, described control system is made up of main control module, motor drive module and wireless remote control module; Described DC speed-reducing (13) is connected with described motor drive module with described Worm reduction motor (19), and described motor drive module is connected with described main control module, and described main control module is connected with described wireless remote control module.

3. the chassis structure of a kind of Small Ground Mobile Robot according to claim 1, is characterized in that, described road wheel (11) is follower.

4. the chassis structure of a kind of Small Ground Mobile Robot according to claim 2, it is characterized in that, described motor drive module is L298N motor driver, described motor drive module has 6,3 are connected with described DC speed-reducing (13), and each described motor drive module can drive two described DC speed-reducing (13); 3 are connected with described Worm reduction motor (19), and each described motor drive module can drive two described Worm reduction motors (19).

5. the chassis structure of a kind of Small Ground Mobile Robot according to claim 2 or 4, is characterized in that, described main control module is micro controller system.

6. the chassis structure of a kind of Small Ground Mobile Robot according to claim 4, is characterized in that, described main control module, described motor drive module and described wireless remote control module are placed on described vehicle body (6).