CN101716961A - Track-leg combined ground robot - Google Patents
Track-leg combined ground robot Download PDFInfo
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- CN101716961A CN101716961A CN200910237447A CN200910237447A CN101716961A CN 101716961 A CN101716961 A CN 101716961A CN 200910237447 A CN200910237447 A CN 200910237447A CN 200910237447 A CN200910237447 A CN 200910237447A CN 101716961 A CN101716961 A CN 101716961A
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Abstract
The invention discloses a track-leg combined ground moving robot, which comprises a multi-track vehicle body. Two wheels are arranged on two sides of the vehicle body; a cross arm is arranged at the end part of the vehicle body; an arm oscillating wheel is arranged at the end part of each cross arm; the arm oscillating wheel arranged at the end of the vehicle body is connected with a motor matched with the arm oscillating wheel; the tracks are respectively sleeved between the arm oscillating wheels and the wheels and between the wheels; a supporting rod is arranged on the cross arm arranged at the end part of the vehicle body; the supporting rods form the legs of the ground robot; and the supporting rod is electrically connected with the motor which is nearest to the supporting rod. Since the legs of the robot are retracted to be close to the inner sides of the front and rear cross arms in normal times, the robot moves in a track mode, and when the robot meets an obstacle which is difficult to be climbed over, the robot outstretches the legs to move in a climbing mode, and the climbing ability of the robot is enhanced. The robot adopts the multi-track structure, legs formed by supporting rods are increased, and compared with a standard leg, the leg has simple structure, simple climbing action and easy realization of the mechanism, therefore, the structural complexity is effectively reduced.
Description
Technical field
The present invention relates to a kind of robot, particularly a kind of track-leg combined ground robot.
Background technology
Ground mobile robot is a kind of novel machine people of the last century proposition nineties, since its military surveillance, fight against terrorism and violence, anti-coring and pollution etc. dangerous with the harsh environment operation in wide application prospect, make it become an important research focus rapidly.
And the obstacle climbing ability of ground mobile robot is one of core technology of mobile robot, how to improve the obstacle climbing ability of robot at complex environment, is the target that people pursue.Although increase the function of physical construction, can improve obstacle climbing ability, gain in weight simultaneously and volume, therefore do not meet the designing requirement of ground mobile robot.
At present, the motion structure of ground mobile robot mainly comprises six caterpillar belt structures, leg foot formula structure and sufficient formula structure.Wherein, the ground mobile robot of six caterpillar belt structures is present comparatively general version, it adapts to ground shape by changing the crawler belt angle, though have stronger obstacle climbing ability, can tackle general obstacle, but tackling complex barriers such as building waste, earthquake ruins, ruins, disaster colliery, still have weak point, be difficult to cross.Leg foot formula ground mobile robot has the obstacle climbing ability that is better than caterpillar robot, but its complex structure, weight is big, and efficient is low, and control is complicated, has the shortcoming that is difficult to practicability.The similar transformer of foot formula ground mobile robot, it exists mechanism redundant too many, when a cover kinematic scheme job, other kinematic schemes are idle useless, are equivalent to increase robot weight and volume, therefore have slow-footed shortcoming, since be subjected to the restriction of technical merit, also impracticable at present.
Summary of the invention
The purpose of the embodiment of the invention is the defective at above-mentioned prior art, and a kind of track-leg combined ground mobile robot who had not only solved the problem of climbing obstacle detouring difficulty but also reduced the complexity of structure is provided.
The technical scheme taked of the embodiment of the invention is to achieve these goals: a kind of track-leg combined ground robot, comprise the multi-track car body, described car body is one-sided respectively to be provided with two wheels, the end of described car body is provided with transverse arm, the end of described transverse arm is respectively equipped with the swing arm wheel, the swing arm of described car body end is taken turns associated motor and is connected, described many crawler belts are socketed between swing arm wheel and the wheel respectively and between two wheels, the transverse arm of described car body end is provided with pole, described pole forms the sufficient leg of ground mobile robot, and the motor that described pole and distance pole are nearest links to each other.
Concrete, described car body is six crawler belt car bodies, and described transverse arm is separately positioned on the front and back ends of car body, and the swing arm wheel of described car body front end and rear end is connected with separately motor respectively; Described car body one-sided respectively is provided with three groups of crawler belts, three groups of crawler belts be respectively the swing arm wheel that is socketed in described car body front end with described wheel between, between the wheel of between described two wheels and described car body rear end and swing arm take turns; Be respectively equipped with pole on the transverse arm of described car body front and back ends, the pole of described car body front end and rear end forms the forward and backward sufficient leg of ground mobile robot respectively, and described pole links to each other by the nearest motor of pin and distance pole.
The beneficial effect of the embodiment of the invention is: compared to existing technology, the present invention has increased sufficient leg structure on the basis of multi-track, makes the present invention have the advantage of multi-track and leg foot formula simultaneously, solves the problem of climbing obstacle detouring difficulty; The present invention has utilized the multi-track structure, increases the sufficient leg that is made of pole, and than simple in structure many of standard leg, the action of creeping is simple, and mechanism is easy to realize, so actv. has reduced the complexity of structure.
Description of drawings
Fig. 1 is the described track-leg combined ground mobile robot's of the embodiment of the invention a perspective view;
Fig. 2 is that the A of the mobile robot's of track-leg combined ground described in Fig. 1 sufficient leg when putting down is to view;
Fig. 2 a is the block diagram of the mobile robot of track-leg combined ground described in Fig. 1 when packing up sufficient leg;
Fig. 3-Figure 10 is the scheme drawing of the crawling process of robot described in Fig. 1, is respectively initial condition, lifts foreleg, the foreleg that falls, lifts car body, car body reach, car body and fall, receive back leg and restPose.
Among the figure: 1 pole, 1.1 forelegs, 1.2 back legs, 2 motors, 3 crawler belts, 4 swing arms wheel, 5 wheels, 6 car bodies, 7 transverse arms.
The specific embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Shown in Fig. 1-2, a kind of track-leg combined ground robot comprises six caterpillar type car bodies 6.In this example, adopt six caterpillar type car bodies, when specifically implementing, can also select two crawler belt car bodies or two crawler belts for use is even number with the quantity that upper body needs only crawler belt, wants corresponding setting transverse arm, swing arm wheel and pole simultaneously.
Shown in Fig. 1-2, car body 6 is one-sided respectively to be provided with two wheels 5, and the front and back ends of car body 6 is respectively equipped with transverse arm 7.The end of transverse arm 7 is respectively equipped with swing arm wheel 4.The swing arm wheel 4 respectively associated motors 2 of car body 6 front ends and rear end connect.Car body 6 one-sided respectively is provided with three groups of crawler belts 3.Three groups of crawler belts 3 be respectively the swing arm wheel 4 that is socketed in car body 6 front ends with wheel 5 between, the wheel 5 and the swing arm of between two wheels 5 and car body 6 rear ends take turns between 4.Be respectively equipped with two parallel poles 1 on the transverse arm 7 of car body 6 front and back ends.Double-type pole has formed the pole 1 of ground mobile robot in car body 6 front ends and the rear end.Pole 1 links to each other by pin and distance pole 1 nearest motor 2.
Because four-footed is that forward and backward two groups of poles have been utilized original existing degree of freedom of six caterpillar belt structures and length, thereby, only need take turns 4 places and increase by two motors 2 that are fixed on the transverse arm 7 in the swing arm of car body 6 front and back ends, again two groups of foot legs are linked by pin and motor 2, by motor 2 drive sufficient leg promptly two parallel fulcrum levers 1 rotate, just form simple Four-feet creeping mechanism.Utilize original structure so the present invention is abundant, increase on the basis of volume weight and complexity in little amplitude, by the several minor structures of simple increase, just form a kind of new mode of motion, solved existing ground mobile robot climbing obstacle detouring difficulty problem, also simplify the structure simultaneously.
The motion scheme that said structure of the present invention forms is six crawler belts-all fours type structure, comprises crawler type motion and two kinds of mode of motion of leg podarthrum formula motion.During caterpillar drive, can regulate crawler belt and ground-surface angle.Launch the front and back crawler belt as the level land, be beneficial to ditch more, reduce geostatic pressure.When platform, slope are arranged, lift preceding crawler belt, climb, and forward and backward sufficient leg 1 is used for supporting.Transverse arm stretches out foreleg 1.1 before can pressing down during descending, supports ground and reduces and impact.Accommodate sufficient leg earlier, it is landed, gradually leg is stretched again or crooked, make car body 6 parts slowly be landed descending.
Shown in Fig. 2 a, the sufficient at ordinary times leg of the present invention is regained, and moves in six crawler belt modes.When the intransitable obstacle of the six crawler belt modes of appearance, stretch out sufficient leg, with the mode obstacle detouring of creeping, initial condition of the present invention as shown in Figure 3.As bigger obstacle, for example pile in ruins, and six crawler belt modes are difficult to cross, and can stretch out four poles, and the mode that adopts four poles to creep moves, and can cross rugged area, climbs up higher step.As Fig. 3-the 10th, crawling process of the present invention passes through initial condition (referring to Fig. 3)-lift foreleg 1.1 (referring to Fig. 4)-foreleg 1.1 (referring to Fig. 5) that falls-lift car body 6 (referring to Fig. 6)-car body 6 reach (referring to Fig. 7)-car bodies 6 respectively and falls (referring to Fig. 8)-receive back legs 1.2 (referring to Fig. 9) to restPose (referring to Figure 10).
The present invention, four poles of increase have made full use of original degree of freedom, length and the structure of six crawler belts, have realized the complicated function of creeping by increasing simple mechanism; Four poles that increase and original car body of six crawler belts have formed the simple multiple degree of freedom climbing mechanism of symmetry, can realize the creeping crawling action, and mechanism are fairly simple, and be practical; Four poles that increase are recoverable at ordinary times, do not influence original body movement of six crawler belts, during four pole crawling exercises, can cross very complicated obstacle, as long as the place that forward and backward pole gets at just can climb up; During four pole crawling exercises, action sequence is a fixed cycles, control very simple, simple more a lot of than the sensing of independent four-footed motion control, control.
Car body of the present invention has the production-release design of six crawler belts, can adopt the mode of creeping to move when big obstacle is arranged, and has strengthened obstacle climbing ability, four poles are regained by driven by motor at ordinary times, are folded in forward and backward arm inboard, with six caterpillar drives, when the obstacle that cannot get through is arranged, creep again.This scheme has the advantage of multi-track and leg foot formula simultaneously, has utilized the multi-track structure, increases by four poles, and than simple in structure many of standard leg formula, the action of creeping is simple, and mechanism is easy to realization.
Above-described embodiment, the present invention specific embodiment a kind of more preferably just, the common variation that those skilled in the art carries out in the technical solution of the present invention scope and replacing all should be included in protection scope of the present invention.
Claims (2)
1. track-leg combined ground robot, comprise the multi-track car body, it is characterized in that: described car body is one-sided respectively to be provided with two wheels, the end of described car body is provided with transverse arm, the end of described transverse arm is respectively equipped with the swing arm wheel, the swing arm of described car body end is taken turns associated motor and is connected, described many crawler belts are socketed between swing arm wheel and the wheel respectively and between two wheels, the transverse arm of described car body end is provided with pole, described pole forms the sufficient leg of ground mobile robot, and the motor that described pole and distance pole are nearest links to each other.
2. a kind of track-leg combined ground robot according to claim 1 is characterized in that: described car body is six crawler belt car bodies, and described transverse arm is separately positioned on the front and back ends of car body, and the swing arm of described car body front end and rear end wheel is connected with separately motor respectively; Described car body one-sided respectively is provided with three groups of crawler belts, three groups of crawler belts be respectively the swing arm wheel that is socketed in described car body front end with described wheel between, between the wheel of between described two wheels and described car body rear end and swing arm take turns; Be respectively equipped with pole on the transverse arm of described car body front and back ends, the pole of described car body front end and rear end forms the forward and backward sufficient leg of ground mobile robot respectively, and described pole links to each other by the nearest motor of pin and distance pole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910237447XA CN101716961B (en) | 2009-11-06 | 2009-11-06 | Track-leg combined ground robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910237447XA CN101716961B (en) | 2009-11-06 | 2009-11-06 | Track-leg combined ground robot |
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| Publication Number | Publication Date |
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| CN101716961A true CN101716961A (en) | 2010-06-02 |
| CN101716961B CN101716961B (en) | 2011-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200910237447XA Expired - Fee Related CN101716961B (en) | 2009-11-06 | 2009-11-06 | Track-leg combined ground robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102642572A (en) * | 2012-04-19 | 2012-08-22 | 哈尔滨工程大学 | Duplex triangle connecting frame variable configuration crawler-type obstacle-crossing mechanism |
| CN103802906A (en) * | 2014-02-19 | 2014-05-21 | 中国北方车辆研究所 | Portable wheel type shifter with stepping propulsion mechanisms |
| CN104647343A (en) * | 2015-03-13 | 2015-05-27 | 北京理工大学 | Micro-miniature overturning stair-climbing robot |
| CN104709373A (en) * | 2013-12-13 | 2015-06-17 | 中国科学院沈阳自动化研究所 | Movable type gap opening 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 |
| CN105857434A (en) * | 2016-04-27 | 2016-08-17 | 浙江腾荣环保科技有限公司 | Four-legged walking robot |
| CN106542016A (en) * | 2015-09-22 | 2017-03-29 | 万书亭 | A kind of crawler type detects robot with the varistructured cable tunnel of sufficient formula |
| CN106892011A (en) * | 2017-04-18 | 2017-06-27 | 山东大学 | The walking combined mobile robot of crawler belt leg |
| CN106904224A (en) * | 2017-04-20 | 2017-06-30 | 重庆大学 | A kind of hybrid climbing robot device of crawler belt polypody |
| CN111038612A (en) * | 2019-12-31 | 2020-04-21 | 浙江大学 | Multi-motion-mode wheel-track-leg combined robot |
| CN112193347A (en) * | 2020-11-11 | 2021-01-08 | 张丽英 | Crawling robot |
| CN114056453A (en) * | 2021-12-27 | 2022-02-18 | 浙江工业大学 | Crawler and leg double-motion-mode crawling robot for underground pipe gallery inspection |
| CN114179929A (en) * | 2021-12-31 | 2022-03-15 | 杭州电子科技大学 | Wheel-leg type stair climbing robot |
| CN115488872A (en) * | 2022-09-23 | 2022-12-20 | 哈尔滨工业大学（深圳） | Motor and compensation mechanism mixed driving rope driving mechanical leg based on suspension arm hinge type joint |
-
2009
- 2009-11-06 CN CN200910237447XA patent/CN101716961B/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102642572A (en) * | 2012-04-19 | 2012-08-22 | 哈尔滨工程大学 | Duplex triangle connecting frame variable configuration crawler-type obstacle-crossing mechanism |
| CN102642572B (en) * | 2012-04-19 | 2014-03-26 | 哈尔滨工程大学 | Duplex triangle connecting frame variable configuration crawler-type obstacle-crossing mechanism |
| CN104709373A (en) * | 2013-12-13 | 2015-06-17 | 中国科学院沈阳自动化研究所 | Movable type gap opening robot |
| CN103802906A (en) * | 2014-02-19 | 2014-05-21 | 中国北方车辆研究所 | Portable wheel type shifter with stepping propulsion mechanisms |
| CN104647343A (en) * | 2015-03-13 | 2015-05-27 | 北京理工大学 | Micro-miniature overturning stair-climbing robot |
| CN106542016A (en) * | 2015-09-22 | 2017-03-29 | 万书亭 | A kind of crawler type detects robot with the varistructured cable tunnel of sufficient formula |
| CN105857435A (en) * | 2016-04-27 | 2016-08-17 | 浙江腾荣环保科技有限公司 | Eight-legged walking robot |
| CN105857434A (en) * | 2016-04-27 | 2016-08-17 | 浙江腾荣环保科技有限公司 | Four-legged walking robot |
| CN106892011A (en) * | 2017-04-18 | 2017-06-27 | 山东大学 | The walking combined mobile robot of crawler belt leg |
| CN106904224A (en) * | 2017-04-20 | 2017-06-30 | 重庆大学 | A kind of hybrid climbing robot device of crawler belt polypody |
| CN111038612A (en) * | 2019-12-31 | 2020-04-21 | 浙江大学 | Multi-motion-mode wheel-track-leg combined robot |
| WO2021135148A1 (en) * | 2019-12-31 | 2021-07-08 | 浙江大学 | Multi-motion mode wheel-track-leg composite robot |
| CN112193347A (en) * | 2020-11-11 | 2021-01-08 | 张丽英 | Crawling robot |
| CN114056453A (en) * | 2021-12-27 | 2022-02-18 | 浙江工业大学 | Crawler and leg double-motion-mode crawling robot for underground pipe gallery inspection |
| CN114179929A (en) * | 2021-12-31 | 2022-03-15 | 杭州电子科技大学 | Wheel-leg type stair climbing robot |
| CN114179929B (en) * | 2021-12-31 | 2022-09-09 | 杭州电子科技大学 | Wheel-leg type stair climbing robot |
| CN115488872A (en) * | 2022-09-23 | 2022-12-20 | 哈尔滨工业大学（深圳） | Motor and compensation mechanism mixed driving rope driving mechanical leg based on suspension arm hinge type joint |
| CN115488872B (en) * | 2022-09-23 | 2023-07-14 | 哈尔滨工业大学（深圳） | Motor and compensation mechanism hybrid driving rope driven mechanical leg based on suspension arm hinge type joint |
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| CN101716961B (en) | 2011-06-22 |
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