CN105216899A - Barrier-surpassing robot - Google Patents
Barrier-surpassing robot Download PDFInfo
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- CN105216899A CN105216899A CN201510644501.8A CN201510644501A CN105216899A CN 105216899 A CN105216899 A CN 105216899A CN 201510644501 A CN201510644501 A CN 201510644501A CN 105216899 A CN105216899 A CN 105216899A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
本发明公开了一种越障机器人，包括机架和设置在机架上的行走系统、运载平衡系统、控制系统；所述行走系统包括用于带动机架运动的主履带组件、用于辅助主履带组件跨越障碍的副履带组件和仿蚁机械臂机构，所述副履带组件沿竖直方向可翻转的设置在机架上，所述仿蚁机械臂机构设置在主履带组件外侧；所述运载平衡系统包括可翻转的设置在机架上的载物板、用于支承和调节载物板倾斜度的支承液压缸、用于保持载物板自平衡的重力摆；所述控制系统包括用于驱动主履带组件工作的驱动电机、传感器、控制器，所述控制器与驱动电机、传感器电连接。本发明不仅适应能力强、效率高、灵活机动性好，而且能够越过各种复杂路况的路段，平衡性好。
The invention discloses an obstacle-surmounting robot, which includes a frame, a walking system arranged on the frame, a load balance system, and a control system; the walking system includes a main crawler assembly for driving the frame to move, a The auxiliary crawler assembly and the imitating ant mechanical arm mechanism for the crawler assembly to cross obstacles, the auxiliary crawler assembly is reversibly arranged on the frame along the vertical direction, and the ant imitative mechanical arm mechanism is arranged on the outside of the main crawler assembly; the carrying The balance system includes a reversible loading board arranged on the frame, a supporting hydraulic cylinder for supporting and adjusting the inclination of the loading board, and a gravity pendulum for maintaining the self-balancing of the loading board; the control system includes A driving motor, a sensor and a controller for driving the main crawler assembly to work, the controller is electrically connected with the driving motor and the sensor. The invention not only has strong adaptability, high efficiency and good maneuverability, but also can cross road sections with various complicated road conditions, and has good balance.
Description
Technical field
The present invention relates to a kind of robot, particularly a kind of barrier-surpassing robot.
Background technology
Environment residing for mobile barrier-surpassing robot is mostly complicated unstructured moving grids, as by the complex road condition such as uphill/downhill section and stair, therefore needs barrier-surpassing robot to possess high maneuverability, powerful environment sensing ability and fast speed capability of reaction.
Obstacle detouring mode main at present has: wheeled, leg formula, crawler type.Wherein wheeled most effective, but adaptive capacity is the poorest; And the adaptive capacity of leg formula is the strongest, but efficiency is the poorest; Although crawler-mounted has good grade climbing performance and certain obstacle climbing ability, efficiency comparison is low, and flexible property is poor.
Therefore, be badly in need of exploitation one not only adaptable, efficiency is high, flexible property is good, and can cross the section of various complex road condition, the barrier-surpassing robot that balance is good.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of barrier-surpassing robot, not only adaptable, efficiency is high, flexible property is good, and can cross the section of various complex road condition, balance is good.
Barrier-surpassing robot of the present invention, comprises frame and is arranged on running gear, carry balancing system, the control system in frame; Described running gear comprises main track assembly for driving gantry motion, for the secondary track assembly of auxiliary main track assembly leaping over obstacles and imitative ant mechanical arm mechanism, described secondary track assembly is vertically turnover to be arranged in frame, and described imitative ant mechanical arm mechanism is arranged on outside main track assembly; Described carry balancing system comprises the turnover support board be arranged in frame, for supporting and regulate the support hydraulic cylinder of support board degree of dip, for keeping the gravity pendulum of support board self-balancing; Described control system comprises drive motor, sensor, controller for driving main track assembly work, and described controller is connected with drive motor, sensor electrical.
Further, described main track assembly is two groups, two groups of main track assemblies are symmetricly set on frame both sides, often organize main track assembly and include front power wheel, rear power wheel, main crawler belt, bearing support, described front power wheel and rear power wheel are rotating to be respectively arranged in frame, and front power wheel and rear power wheel and drive motor are in transmission connection, described main crawler belt is arranged on front power wheel and rear power wheel, and the two ends of described bearing support are separately fixed on front power wheel and rear power wheel.
Further, middle position between the front power wheel of each main track assembly and rear power wheel is provided with the bogie wheel in arranging up and down, each bogie wheel contacts with main crawler belt respectively, and each bogie wheel is arranged on the regulator solution cylinder pressure for driving bogie wheel up-and-down movement that frame is provided with respectively.
Further, described secondary track assembly is two groups, and be symmetricly set between two groups of main track assemblies, each secondary track assembly comprises driving wheel, power wheel, secondary crawler belt, retainer, the diameter of described driving wheel is greater than the diameter of power wheel, described driving wheel and power wheel be the rotating two ends being arranged on retainer respectively, described secondary crawler belt is arranged on driving wheel and power wheel, described retainer is vertically turnover for the one end of installing driving wheel is arranged on frame, and the other end is unsettled to be positioned at outside frame.
Further, the rotating aiding support wheel be provided with for supporting secondary crawler belt in the middle part of described retainer, described aiding support wheel contacts with secondary crawler belt.
Further, described imitative ant mechanical arm mechanism comprise for stand angularly forward forearm component, for frame both sides motion in arm component and the rear arm component for moving to stand angularly rear, described forearm component, middle arm component and rear arm component are two groups, each group of forearm component, middle arm component and rear arm component are symmetricly set on the outside of corresponding main track assembly, and described forearm component, middle arm component and rear arm component are four-degree-of-freedom mechanical arm.
Further, each forearm component, middle arm component and rear arm component include base, large arm, middle arm and forearm, described base is fixed on bearing support, one end of described large arm is rotating to be arranged on rotary joint that base is provided with, the other end of large arm and one end of middle arm hinged, the other end of middle arm and one end of forearm hinged.
Further, described support board is arranged on central rack by rotary joint is turnover, and described support hydraulic cylinder is four, and four support hydraulic cylinders are rectangular to be distributed in frame, the piston rod of each support hydraulic cylinder is connected and fixed with support board respectively, and described gravity pendulum is fixed on rotary joint place.
Further, described gravity pendulum comprises rocker, fork, swing ball and calibrated disc, described rocker is fixed on rotary joint place, the bottom of this rocker is hollow structure, described fork upper end is rotating to be arranged in the cavity of rocker, fork lower end is stretched out outside rocker and is fixedly connected with described swing ball, and described calibrated disc is fixed on rocker.
Further, described drive motor is arranged in frame, and described sensor is multiple, and multiple sensor lays respectively at frame front and both sides, and described controller is fixed on frame rear portion, and is positioned at below support board.
Beneficial effect of the present invention: barrier-surpassing robot of the present invention, by arranging main track assembly, secondary track assembly and imitative ant mechanical arm mechanism, when robot ambulation on road surface more smooth and under concavo-convex less road conditions time, secondary track assembly and imitative ant mechanical arm mechanism do not work, and drive barrier-surpassing robot to move by main track assembly work; When robot ambulation is concavo-convex comparatively large and when having compared with multi-obstacle avoidance on road surface, secondary track assembly and imitative ant mechanical arm mechanism assist main track assembly work, to ensure that main track assembly can pulsation-free work, thus enable barrier-surpassing robot smoothly and cross the section of various complex road condition easily; Simultaneously by arranging carry balancing system, when making barrier-surpassing robot occur tilting in obstacle detouring process, support board can carry out adjustment automatically to keep horizontality.Therefore, the present invention not only adaptable, efficiency is high, flexible property is good, and can cross the section of various complex road condition, balance is good, and integral structure is simple, is easy to realize.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described:
Fig. 1 is perspective view of the present invention;
Fig. 2 is that the A of Fig. 1 is to schematic diagram (removing support board);
Fig. 3 is that the B of Fig. 1 is to schematic diagram;
Fig. 4 is the structural representation of gravity pendulum of the present invention.
Detailed description of the invention
Fig. 1 is perspective view of the present invention, Fig. 2 is that the A of Fig. 1 is to schematic diagram (removing support board), Fig. 3 is that the B of Fig. 1 is to schematic diagram, Fig. 4 is the structural representation of gravity pendulum of the present invention, as shown in the figure: the barrier-surpassing robot of the present embodiment, the running gear, carry balancing system, the control system that comprise frame 1 and be arranged in frame 1; Described running gear comprises main track assembly for driving gantry motion, for the secondary track assembly of auxiliary main track assembly leaping over obstacles and imitative ant mechanical arm mechanism, described secondary track assembly is vertically turnover to be arranged in frame, described imitative ant mechanical arm mechanism is arranged on outside main track assembly, the complex method that crawler type merges mutually with leg formula can be adopted, mutually coordinate to pass through the sections such as stair, uphill/downhill road and rough complex road surface; Described carry balancing system comprises the turnover support board 2 be arranged in frame 1, for supporting and regulate the support hydraulic cylinder 3 of support board 2 degree of dip, for keeping the gravity pendulum 4 of support board 2 self-balancing, when making barrier-surpassing robot occur tilting in obstacle detouring process, support board 2 can carry out adjustment automatically to keep horizontality; Described control system comprises drive motor (not shown), sensor 5, controller 6 for driving main track assembly work, and described controller 6 is electrically connected with drive motor, sensor 5, controls whole robot work by controller.
In the present embodiment, described main track assembly is two groups, two groups of main track assemblies are symmetricly set on frame 1 both sides, often organize main track assembly and include front power wheel 7, rear power wheel 8, main crawler belt 9, bearing support 10, described front power wheel 7 and rear power wheel 8 are rotating to be respectively arranged in frame 1, and front power wheel 7 and rear power wheel 8 are in transmission connection with drive motor, described main crawler belt 9 is arranged on front power wheel 7 and rear power wheel 8, the two ends of described bearing support 10 are separately fixed on front power wheel 7 and rear power wheel 8, being rotated by front power wheel 7 and rear power wheel 8 drives main crawler belt 9 to move, thus drive frame 1 to move.
In the present embodiment, middle position between the front power wheel 7 of each main track assembly and rear power wheel 8 is provided with the bogie wheel 11 in arranging up and down, each bogie wheel 11 contacts with main crawler belt 9 respectively, supporting is formed to main crawler belt 9, each bogie wheel 11 is arranged on the regulator solution cylinder pressure 12 for driving bogie wheel 11 up-and-down movement that frame 1 is provided with respectively, the quantity of regulator solution cylinder pressure 12 and the quantity one_to_one corresponding of bogie wheel 11, and the mode of operation of regulator solution cylinder pressure 12 is perpendicular movement, under the effect of regulator solution cylinder pressure 12, main crawler belt 9 ground side can form fovea superior or lower convex along with moving up and down of bogie wheel 11, to make main crawler belt 9 can better and earth surface, improve mobile efficiency and stability.
In the present embodiment, described secondary track assembly is two groups, and be symmetricly set between two groups of main track assemblies, each secondary track assembly comprises driving wheel 13, power wheel 14, secondary crawler belt 15, retainer 16, the diameter of described driving wheel 13 is greater than the diameter of power wheel 14, described driving wheel 13 and power wheel 14 be the rotating two ends being arranged on retainer 16 respectively, described secondary crawler belt 15 is arranged on driving wheel 13 and power wheel 14, secondary crawler belt 15 can be rotated and mobile with driving wheel 13, and drive power wheel 14 to rotate, realize the motion of secondary track assembly; Described retainer 16 is arranged on frame 1 for the one end of installing driving wheel 13 is vertically turnover, the other end is unsettled to be positioned at outside frame 1, enable secondary track assembly overturn certain angle, with the section coordinating main track assembly to cross over complex road condition, improve adaptive capacity.
In the present embodiment, the rotating aiding support wheel 17 be provided with for supporting secondary crawler belt 15 in the middle part of described retainer 16, described aiding support wheel 17 contacts with secondary crawler belt 15, the upper and lower end face of retainer 16 is respectively arranged with symmetrical aiding support wheel 17, to improve support effects, strengthen stability.
In the present embodiment, described imitative ant mechanical arm mechanism comprise for the oblique forward of frame 1 forearm component 18, for frame 1 both sides motion in arm component 19 and the rear arm component 20 for moving to the oblique rear of frame 1, described forearm component 18, middle arm component 19 and rear arm component 20 are two groups, each group of forearm component 18, middle arm component 19 and rear arm component 20 are symmetricly set on the outside of corresponding main track assembly, and described forearm component 18, middle arm component 19 and rear arm component 20 are four-degree-of-freedom mechanical arm.
In the present embodiment, each forearm component 18, middle arm component 19 and rear arm component 20 include the base (base 181 of forearm component 18, the base 191 of middle arm component 19, the base 201 of rear arm component 20), large arm (the large arm 182 of forearm component 18, the large arm 192 of middle arm component 19, the large arm 202 of rear arm component 20), middle arm (the middle arm 183 of forearm component 18, the middle arm 193 of middle arm component 19, the middle arm 203 of rear arm component 20) and the forearm (forearm 184 of forearm component 18, the forearm 194 of middle arm component 19, the forearm 204 of rear arm component 20), described base is fixed on bearing support 10, and (it is anterior that the base 181 of forearm component 18 is fixed on bearing support 10, the base 191 of middle arm component 19 is fixed in the middle part of bearing support 10, the base 201 of rear arm component 20 is fixed on bearing support 10 rear portion), one end of described large arm is rotating to be arranged on rotary joint that base is provided with, the other end of large arm and one end of middle arm hinged, the other end of middle arm and one end of forearm hinged (on the rotary joint that the rotating base 181 being arranged on forearm component 18 in one end of the large arm 182 of forearm component 18 is provided with, one end of the other end of the large arm 182 of forearm component 18 and the middle arm 183 of forearm component 18 is hinged, one end of the other end of the middle arm 183 of forearm component 18 and the forearm 184 of forearm component 18 is hinged, on the rotary joint that the rotating base 191 being arranged on middle arm component 19 in one end of the large arm 192 of middle arm component 19 is provided with, one end of the other end of the large arm 192 of middle arm component 19 and the middle arm 193 of middle arm component 19 is hinged, and one end of the other end of the middle arm 193 of middle arm component 19 and the forearm 194 of middle arm component 19 is hinged, on the rotary joint that the rotating base 201 being arranged on rear arm component 20 in one end of the large arm 2022 of rear arm component 20 is provided with, one end of the other end of the large arm 202 of rear arm component 20 and the middle arm 203 of rear arm component 20 is hinged, one end of the other end of the middle arm 203 of rear arm component 20 and the forearm 204 of rear arm component 20 is hinged), make each forearm component 18, middle arm component 19 and rear arm component 20 can form four-degree-of-freedom mechanical arm respectively, with the section coordinating main track assembly and secondary track assembly to cross over complex road condition, improve alerting ability.
In the present embodiment, described support board 2 is arranged in the middle part of frame 1 by rotary joint is turnover, described support hydraulic cylinder 3 is four, four support hydraulic cylinders 3 are rectangular to be distributed in frame 1, the piston rod of each support hydraulic cylinder 3 is connected and fixed with support board 2 respectively, for supporting and regulate the degree of dip of support board 2, described gravity pendulum 4 is fixed on rotary joint place, makes support board 2 can automatically keep balance by gravity pendulum 4.
In the present embodiment, described gravity pendulum 4 comprises rocker 41, fork 42, swing ball 43 and calibrated disc 44, described rocker 41 is fixed on rotary joint place, the bottom of this rocker 41 is hollow structure, in the rotating cavity being arranged at rocker 41 in described fork 42 upper end, fork 42 lower end is stretched out outside rocker 41 and is fixedly connected with described swing ball 43, and described calibrated disc 44 is fixed on rocker 41, achieves the self-equalizing of support board 2 by arranging gravity pendulum 4.
In the present embodiment, described drive motor is arranged in frame 1, described sensor 5 is multiple, multiple sensor 5 lays respectively at frame 1 front portion and both sides, and described controller 6 is fixed on frame 1 rear portion, and is positioned at below support board 2, the sensor 5 of the present embodiment is vision sensor, the quantity of sensor 5 is five, and it is anterior that one of them is positioned at frame 1, and all the other four are separately positioned on two bearing supports 10.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (10)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510644501.8A CN105216899A (en) | 2015-09-30 | 2015-09-30 | Barrier-surpassing robot |
| CN201610030592.0A CN105599818B (en) | 2015-09-30 | 2016-01-18 | Barrier-surpassing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510644501.8A CN105216899A (en) | 2015-09-30 | 2015-09-30 | Barrier-surpassing robot |
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| CN105216899A true CN105216899A (en) | 2016-01-06 |
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| CN201510644501.8A Pending CN105216899A (en) | 2015-09-30 | 2015-09-30 | Barrier-surpassing robot |
| CN201610030592.0A Active CN105599818B (en) | 2015-09-30 | 2016-01-18 | Barrier-surpassing robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857434A (en) * | 2016-04-27 | 2016-08-17 | 浙江腾荣环保科技有限公司 | Four-legged walking robot |
| CN105857435A (en) * | 2016-04-27 | 2016-08-17 | 浙江腾荣环保科技有限公司 | Eight-legged walking robot |
| CN106828832A (en) * | 2017-01-23 | 2017-06-13 | 西北工业大学 | A kind of bionical knife edge leg of migration mixing and crawler belt combination walking underwater robot and its control method |
| CN106903689A (en) * | 2017-02-28 | 2017-06-30 | 深圳市笨笨机器人有限公司 | The method and a kind of robot of a kind of robot self-adaptative adjustment |
| WO2018041113A1 (en) * | 2016-08-30 | 2018-03-08 | 陆任行 | Multi-leg independent mobile carrier device |
| CN109484499A (en) * | 2018-11-26 | 2019-03-19 | 国网江苏省电力有限公司徐州供电分公司 | A kind of barrier-surpassing robot |
| CN110089220A (en) * | 2019-05-23 | 2019-08-06 | 田艺江 | A kind of moveable equipment for being used for soil improvement |
| CN112429111A (en) * | 2020-11-23 | 2021-03-02 | 佳木斯大学 | Robot based on computer control |
| CN113236947A (en) * | 2021-05-08 | 2021-08-10 | 国网新疆电力有限公司喀什供电公司 | Inspection device for transformer substation |
| WO2024244375A1 (en) * | 2023-05-30 | 2024-12-05 | 深圳先进技术研究院 | Legged-tracked composite mobile robot driving and controlling system and method |
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| CN109677506B (en) * | 2018-12-29 | 2023-09-22 | 镇江高等职业技术学校 | Chassis walking type overturning auxiliary mechanism |
| CN110641567B (en) * | 2019-10-17 | 2020-06-16 | 哈尔滨学院 | Multi-foot reversible crawling robot based on intelligent material |
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| US6866557B2 (en) * | 2002-07-02 | 2005-03-15 | Mitch Randall | Apparatus and method for producing ambulatory motion |
| US7575076B2 (en) * | 2004-04-30 | 2009-08-18 | Korea Institute Of Science And Technology | Link-type double track mechanism for mobile robot |
| CN101244728A (en) * | 2008-03-18 | 2008-08-20 | 中国矿业大学 | Flameproof robot platform for underground search and rescue operations in coal mines |
| KR101327975B1 (en) * | 2012-05-17 | 2013-11-13 | 한국해양과학기술원 | Test bed for testing function of underwater robot |
| CN203237311U (en) * | 2013-01-09 | 2013-10-16 | 西华大学 | Hydraulic bionic leg crawler-type chassis |
| CN104709373B (en) * | 2013-12-13 | 2017-01-11 | 中国科学院沈阳自动化研究所 | Movable type gap opening robot |
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- 2015-09-30 CN CN201510644501.8A patent/CN105216899A/en active Pending
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- 2016-01-18 CN CN201610030592.0A patent/CN105599818B/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857434A (en) * | 2016-04-27 | 2016-08-17 | 浙江腾荣环保科技有限公司 | Four-legged walking robot |
| CN105857435A (en) * | 2016-04-27 | 2016-08-17 | 浙江腾荣环保科技有限公司 | Eight-legged walking robot |
| WO2018041113A1 (en) * | 2016-08-30 | 2018-03-08 | 陆任行 | Multi-leg independent mobile carrier device |
| US10532782B2 (en) | 2016-08-30 | 2020-01-14 | Renhang LU | Multi-legged independent mobile carrier |
| CN106828832A (en) * | 2017-01-23 | 2017-06-13 | 西北工业大学 | A kind of bionical knife edge leg of migration mixing and crawler belt combination walking underwater robot and its control method |
| CN106903689A (en) * | 2017-02-28 | 2017-06-30 | 深圳市笨笨机器人有限公司 | The method and a kind of robot of a kind of robot self-adaptative adjustment |
| CN109484499A (en) * | 2018-11-26 | 2019-03-19 | 国网江苏省电力有限公司徐州供电分公司 | A kind of barrier-surpassing robot |
| CN110089220A (en) * | 2019-05-23 | 2019-08-06 | 田艺江 | A kind of moveable equipment for being used for soil improvement |
| CN112429111A (en) * | 2020-11-23 | 2021-03-02 | 佳木斯大学 | Robot based on computer control |
| CN112429111B (en) * | 2020-11-23 | 2021-09-03 | 佳木斯大学 | Robot based on computer control |
| CN113236947A (en) * | 2021-05-08 | 2021-08-10 | 国网新疆电力有限公司喀什供电公司 | Inspection device for transformer substation |
| WO2024244375A1 (en) * | 2023-05-30 | 2024-12-05 | 深圳先进技术研究院 | Legged-tracked composite mobile robot driving and controlling system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105599818B (en) | 2018-07-10 |
| CN105599818A (en) | 2016-05-25 |
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Application publication date: 20160106 |