CN100358771C - Flexible structure universal robot - Google Patents
Flexible structure universal robot Download PDFInfo
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- CN100358771C CN100358771C CNB200410097169XA CN200410097169A CN100358771C CN 100358771 C CN100358771 C CN 100358771C CN B200410097169X A CNB200410097169X A CN B200410097169XA CN 200410097169 A CN200410097169 A CN 200410097169A CN 100358771 C CN100358771 C CN 100358771C
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- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
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Abstract
The present invention relates to a flexible structure universal robot. The present invention is in a flexible structure of multi-fan elastic connection, each fan cabin body is respectively provided with a driving control wheel to support, and the middle of each fan cabin body is provided with a driven wheel. The flexible structure makes the robot stable, simple, agile and adaptable to different landforms in walking, and causes the robot not easy to turn over broadways.
Description
Affiliated technical field
The universal robot that patent of the present invention relates to a kind of multiple-wheel drive walking, has flexible structure.
Background technology
Present most of land robot, walking manner generally has three kinds.A kind of is the bionic walking mode, and a kind of is the crawler-type traveling mode, and also having a kind of is wheeled driving walking manner.Modal is wheeled driving walking manner, and as shown in Figure 5, its notable feature is that whole cabin body is the rigid construction of one, is prone to rollover.
Summary of the invention
Be prone to rollover, walking problem such as dumb in order to overcome common wheeled robot, improve the reliability of robot ambulation, the present invention has designed a kind of many fan elasticity bonded assembly flexible structures, make robot both have the reliability of height, be not prone to rollover, can walk flexibly again, automatically adaptation to the ground.
The technical solution adopted for the present invention to solve the technical problems is: design-calculated of the present invention is fanned elasticity bonded assembly flexible structure more, robot car body is divided into many fan wing tanks and cabin, a center, each is fanned between the wing tank and connects by Flexible Connector, be connected through the hinge between each wing tank and the cabin, center, there is a wheel each wing tank bottom as support, and there is a wheel in bilge portion in center as support, wherein, the wheel of support edge bilge portion is a driving wheel, and the wheel of centre of support bilge portion is a flower wheel.Owing to be that elasticity connects between each fan, thereby it is a kind of flexible structure, it can fit tightly various road surfaces by the class molluscoid, during walking, the car body safety and stability is not easy to overturn, during the local leaping over obstacles of car body, other parts also can steadily be advanced, and can not produce idle running because each wheel is fitted with ground all the time, thereby the power source of robot also can be fully used.The train of this flexible structure is made of the wheel that supports every fan wing tank bottom and the wheel of centre of support bilge portion.The wheel of support edge bilge portion can rotate freely by 360 degree under step motor control.When the wheel direction of support edge bilge portion is adjusted to the tangent to periphery direction, robot can the original place rotation, when the wheel direction of all support edge bilge portions was consistent, robot will be according to the direction straightaway of train; When the wheel of support edge bilge portion has the direction difference, robot curve walking (wheel position can be set arbitrarily angled by step motor control).Like this, robot just can be realized right-angle steering, universal walking.This flexible ability that realizes by simple structure has obvious superiority.
The beneficial effect of patent of the present invention is: it adopts simple flexible structure train layout, realizes that robot automatically adapts to various landform, safe leaping over obstacles, universal operation (not having the reversing notion), arbitrarily angled sophisticated functions such as turn round.These not only have using value preferably for the development of the moon, Mars and other star science investigation robot, and the development of equipping for the scouting of novel land, operation and the logistics support robot of complex-terrain environment also has potential using value.
Description of drawings
Be described further below in conjunction with drawings and Examples.
Fig. 1 fans elasticity more and connects the flexible structure birds-eye view.
Among the figure, 1. cabin, center, 2. wing tank, 3. hinge, the 4. wheel of support edge bilge portion, 5. Flexible Connector.
Fig. 2 fans elasticity more and connects the flexible structure front elevation.
Among the figure, the 4. wheel of support edge bilge portion, the 6. wheel of centre of support bilge portion.
First embodiment front elevation of Fig. 3 flexible structure universal robot.
Among the figure, 1. cabin, center, 2. wing tank, 3. hinge, the 4. wheel of support edge bilge portion, 5. Flexible Connector, the 6. wheel of centre of support bilge portion, 7. mast, 8. overhead bin, 9. antenna.
The local leaping over obstacles figure of first embodiment of Fig. 4 flexible structure universal robot.
The general wheeled drive machines people's structure of Fig. 5.
Among the figure, 10. car body, 11. wheels.
The specific embodiment
In Fig. 1, robot car body is divided into cabin, center (1), wing tank (2), connect by hinge (3) between cabin, center and the wing tank, connect by Flexible Connector (5) between each wing tank.All there is a wheel (4) each wing tank bottom as supporting, and also there is a wheel (6) bottom in cabin, center as supporting.Wherein, the wheel (4) of support edge bilge portion is a driving wheel, and the wheel (6) of centre of support bilge portion is a flower wheel.
In Fig. 3 embodiment, cabin, center (1) is equipped with main control computer, and three wing tanks are equipped with stepping motor and micro controller system respectively, under the control of main control computer, and by the Single-chip Controlling stepping motor, thus the turning to of wheel (4) of control support edge bilge portion.Dress video acquisition transmission system can be transferred to the effector to the far-end video information of robot collection by antenna (9) in the overhead bin (8), is connected by mast (7) between overhead bin and the cabin, center.
Claims (2)
1, a kind of flexible structure universal robot, it adopts a kind of many fan elasticity bonded assembly flexible structures, it is characterized in that: robot car body is divided into many fan wing tanks and cabin, a center, each is fanned between the wing tank and connects by Flexible Connector, be connected through the hinge between each wing tank and the cabin, center, there is a wheel each wing tank bottom as support, and there is a wheel in bilge portion in center as support.
2, robot according to claim 1 is characterized in that: the wheel of support edge bilge portion is a driving wheel, adjusts respectively to turn under the control of control computer, and the wheel of centre of support bilge portion is a flower wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410097169XA CN100358771C (en) | 2004-12-13 | 2004-12-13 | Flexible structure universal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410097169XA CN100358771C (en) | 2004-12-13 | 2004-12-13 | Flexible structure universal robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1789063A CN1789063A (en) | 2006-06-21 |
| CN100358771C true CN100358771C (en) | 2008-01-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200410097169XA Expired - Fee Related CN100358771C (en) | 2004-12-13 | 2004-12-13 | Flexible structure universal robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100358771C (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111168420B (en) * | 2018-11-12 | 2021-03-30 | 上海交通大学 | Wheeled three-dimensional mobile support flexible tooling structure |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60215480A (en) * | 1984-04-12 | 1985-10-28 | Toshiba Corp | Travel car |
| US4657104A (en) * | 1983-07-23 | 1987-04-14 | Cybermation, Inc. | Concentric shaft mobile base for robots and the like |
| CN87210692U (en) * | 1987-10-31 | 1988-08-10 | 崔乃力 | Multi-purpose folding flatbed tricycle for servicing cars |
| US5372211A (en) * | 1992-10-01 | 1994-12-13 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Method for surmounting an obstacle by a robot vehicle |
| CN1184744A (en) * | 1996-12-08 | 1998-06-17 | 廖华勇 | All driection running car |
| EP1193168A2 (en) * | 2000-09-26 | 2002-04-03 | Rafael Armament Development Authority Ltd. | Unmanned mobile device |
-
2004
- 2004-12-13 CN CNB200410097169XA patent/CN100358771C/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4657104A (en) * | 1983-07-23 | 1987-04-14 | Cybermation, Inc. | Concentric shaft mobile base for robots and the like |
| JPS60215480A (en) * | 1984-04-12 | 1985-10-28 | Toshiba Corp | Travel car |
| CN87210692U (en) * | 1987-10-31 | 1988-08-10 | 崔乃力 | Multi-purpose folding flatbed tricycle for servicing cars |
| US5372211A (en) * | 1992-10-01 | 1994-12-13 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Method for surmounting an obstacle by a robot vehicle |
| CN1184744A (en) * | 1996-12-08 | 1998-06-17 | 廖华勇 | All driection running car |
| EP1193168A2 (en) * | 2000-09-26 | 2002-04-03 | Rafael Armament Development Authority Ltd. | Unmanned mobile device |
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| Publication number | Publication date |
|---|---|
| CN1789063A (en) | 2006-06-21 |
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