CN103407510A - Deformable planet wheel robot with left body and right body hinged - Google Patents
Deformable planet wheel robot with left body and right body hinged Download PDFInfo
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- CN103407510A CN103407510A CN2013103685627A CN201310368562A CN103407510A CN 103407510 A CN103407510 A CN 103407510A CN 2013103685627 A CN2013103685627 A CN 2013103685627A CN 201310368562 A CN201310368562 A CN 201310368562A CN 103407510 A CN103407510 A CN 103407510A
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Abstract
The invention relates to a deformable planet wheel robot with a left body and a right body hinged. The deformable planet wheel robot is characterized by comprising the left body and the right body which are connected into a whole through a rocker arm suspension system hinged to the two bodies. The outer side of each of the bodies is provided with vertically-hinged lateral plates, namely a lateral plate I, a lateral plate II, a lateral plate III and a lateral plate IV. Front wheels are fixed on the lateral plates I, and rear wheels are fixed on the laterals IV. The middle portions of the lateral plates I and the lateral plates II are hinged to a front steering frame and a rear steering frame. Pairs of ball screw are arranged at the upper portion and the lower portion in each of the bodies fixedly, and the hinge positions of the lateral plates I and the lateral plates II and the hinge positions of the lateral plates III and the lateral plates IV are connected with respective ball screws through connection rods. The lateral plates I, the lateral plates II, the front steering frame and connection rods form four-rod deformation mechanisms. The deformable planet wheel robot are provided with four groups of symmetrically-arranged four-rod deformation mechanisms which serve as the chassis of the deformable planet wheel robot.
Description
Technical field
The present invention relates to a kind of satellite gear robot, specifically, is the satellite gear robot that a kind of deformable left and right two pitch chains connect.
Background technology
The satellite gear robot is aly based on the obstacle detouring of train own, to consider and the mobile robot of design, and it adopts planetary gear structure, and the upset by self train realizes obstacle crossing function, widespread use and obstacle detouring volume the car design.
Planet circular system is a kind of advanced person's gear drive, has the advantages such as transmission power is large, load-carrying capacity large, compact conformation, and satellite gear, owing to having good obstacle climbing ability, is more common among the train design of barrier-surpassing robot.
The planet circular system that is applied to barrier-surpassing robot can be divided into again layman's star-wheel and expert's star-wheel.Layman's star-wheel schematic diagram as shown in Figure 1.Satellite gear is based on the equalizing gear rule, sun gear by motor by drivings such as coupler, by gear, mesh and drive transition gear and satellite gear rotates, wheel and drive wheel are fixed together, so the band motor car wheel rotates around sun gear and gear shaft, just as planet, revolving round the sun around the sun, this gear drive is planet circular system so claim visually.
When flat road surface is travelled, be subject to the constraint that two wheels land simultaneously, planet stent can not overturn, and then develops into fixed shaft gear train, utilizes the wheel fast driving to advance, and its running efficiency and common train are as good as.Simultaneously owing to being that many wheels land, thereby increased the area of contact on wheel and ground, not only improved the stability of motion of robot, also reduced grounding pressure, made robot have better terrain trafficability.When running into larger obstacle, because the wheel advanced is subject to resistance, then develop into planet circular system, thus the upset now by pinion carrier easily realizes obstacle detouring and climbs step.
Planet circular system relies on the pinion carrier upset of self to carry out obstacle detouring, does not need complicated auxiliary mechanism, has therefore greatly simplified mechanical mechanism.Its obstacle detouring process as shown in Figure 2.
Existing satellite gear robot has following deficiency:
The suppleness deficiency of robot chassis design, in complicated ground environment, without playing the device of buffer action, the train damage of easily damaging;
The robot steering swivel system imitates automobile, mainly by steering driving shaft, drives front-wheel and rotates, and reach the purpose turned to, and trailing wheel can't rotate, and adopts the robot turn radius of this steering swivel system larger, and the structure of steering swivel system is also more complicated;
The robot overall volume is deposited more greatly inconvenience;
The Robot adaptive capacity is poor, the obstacle climbing ability deficiency;
Robot dismounting inconvenience, safeguard inconvenience;
Summary of the invention
The technical issues that need to address of the present invention are: the damage of easily damaging of existing satellite gear robot, the suppleness deficiency of chassis design, train; The robot turn radius of steering swivel system is larger, and the structure of steering swivel system is also more complicated; Overall volume is deposited more greatly inconvenience; The ground adaptive capacity is poor, the obstacle climbing ability deficiency; Dismounting inconvenience, safeguard inconvenience.
The present invention takes following technical scheme:
The satellite gear robot that a kind of deformable left and right two pitch chains connect comprises left and right two joint car bodies, and links into an integrated entity by rocker arm suspension that described rocker arm suspension and two joint car bodies carry out hinged; The outside of described car body has four blocks of vertical hinged side plates, is respectively the side plate I, side plate II, side plate III, side plate IV, fixing front-wheel on described side plate I, fixing trailing wheel on described side plate IV; The middle part of described side plate I and side plate IV is also hinged with forward and backward bogie truck respectively; Every joint car body inside is fixed with a pair of ball screw up and down, and the hinged place of described side plate I and side plate II hinged place, side plate III and side plate IV is connected with ball screw separately by connecting rod respectively; Described side plate I, side plate II, forecarriage, connecting rod form four bar deformation mechanisms, and described satellite gear robot has four groups of symmetrically arranged four bar deformation mechanisms, and four bar deformation mechanisms of described four groups of symmetries are chassis of described satellite gear robot.
Further, described rocker arm suspension is the four-wheel rocker arm suspension.
Further, described side plate is provided with the drive motor of ball screw.
Further, described car body top also is provided with and rides over platform, and the described platform that rides over rides over camera.
The present invention is by four bar distortion chassis designs.This designed concept mainly comes from the Bionic Design of the nature animal characteristics of motion, distortion by four bar structures, can easily realize the storage of robot and the wheelspan exchange of the pattern of expansion, in complex environment, shrink and can possess certain protection train effect by wheel simultaneously.Planetary wheel may be collapsed in the space of car body envelope when storage, such design goal mainly contains 2 points, and the one, save parking space, the 2nd, the protection Planetary wheel.
The unitized design of satellite gear and vertical merogenesis car body.Satellite gear has good obstacle climbing ability, that this design has realized is wheeled, the good-good combining of suspension, car body obstacle climbing ability and landform adaptive capacity, in design plan separately, select suitable mechanism, through the optimal combination design, realize the combination between not isostructure, make Function separately arrive maximization, realize landform carrying capacity good in non-structured natural environment and the structured environments such as step, stair.Satellite gear, when on flat road surface, moving, has the characteristic of velocity-stabilization, low-power consumption.
Robot modularized design.The requirements such as, easy care detachable for meeting, robot architecture's application module design philosophy.The core of modularization idea is to become complicated system transition a plurality of simple modules to form, and its advantage is the design and analysis that is conducive to system, and between each functional module, separate assembling, do not interfere with each other; Module has the performance of plug and play simultaneously, and interchangeability is more intense.
Multi-functional carrying platform.In order to strengthen the Practical Performance of robot, on the basis of the optimal design that completes the robot mobile system, designed a multi-functional carrying platform, this design concept has benefited from modular design, the platform of robot can carry different instruments as required, realize the utility function variation of robot, meet robot and scout functional requirements such as surveying, search for the disaster relief.
The accompanying drawing explanation
Fig. 1 is the structural representation of satellite gear.
Schematic diagram when Fig. 2 is the satellite gear obstacle detouring.
Fig. 3 is the schematic perspective view of satellite gear.
Fig. 4 is the schematic perspective view of satellite gear robot of the present invention.
Fig. 5 is the schematic diagram of satellite gear robot chassis while extending.
Fig. 6 is the schematic diagram of satellite gear robot chassis while shrinking.
Fig. 7 is the principle schematic of four bar deformation mechanisms in the present invention, and in figure, bar AC, bar BC, bar CD, bar DE are four bars of screw mandrel deformation mechanism.
Fig. 8 is the structural representation of one-sided chassis of vehicle body.
Fig. 9 is the partial schematic diagram that connecting rod is connected with ball screw.
Figure 10 is the unit design schematic diagram of satellite gear robot of the present invention.
Figure 11 is the schematic diagram of satellite gear robot of the present invention while turning to.
Figure 12 is the schematic diagram of satellite gear robot of the present invention while climbing.
Figure 13 is the schematic diagram of satellite gear robot of the present invention while carrying out obstacle detouring.
The specific embodiment
The present invention is further described below in conjunction with specific embodiment.
The purpose of the invention is to solve the technical barrier of mobile robot's obstacle climbing ability, landform adaptive capacity and stability of motion.Be subjected to the inspiration of tortoise self-protection, designed the four bar distortion chassis that drive based on ball screw, can when robot is stored, satellite gear be hidden in the space of the inner envelope of car body, can save the space of 30% left and right.The homogenization system be comprised of four-wheel rocker arm suspension and homogenizing car body of design, can guarantee that wheel lands simultaneously, greatly improved mobile robot's stability of motion and landform adaptive capacity.Following sub-unit is introduced the content of the invention in detail.
The satellite gear driver module:
Be illustrated in figure 3 the constructional drawing of satellite gear driver module gear train assembly, at length shown the situation of transmission of power and integral layout.Satellite gear driver module employing three is opened up board turbine and worm DC machine and is fixed on the connecting rod rack of chassis, motor output shaft is delivered to the sun gear on planet circular system by the belt pulley of a pair of cooperation, again respectively by 3 transition gears by transmission of power to driven wheel, finally reach the tire of ground connection.
According to existing parameter empirical value, the reference radius of sun gear should obviously be greater than the reference radius of driven wheel.Consider simultaneously and take turns the condition of contacting to earth, between every two groups of planetary wheels, the planetary carrier part is all tried one's best toward internal contraction, in case interfere when climbing up and over the right angle obstacle.Simultaneously in the gap of planet gear transmission parts, some screw holes have been arranged, for upper and lower two planetary carriers are fixed together.
Planetary carrier adopts high strength acrylic part, and not only convenient processing, reduce costs, and played simultaneously expendable weight, improved the effect of load capacity.For Planetary Gear Transmission parts 3 d effect graph, based on the reaction of jolting that alleviates drive motor, strengthen simultaneously the consideration of car body stability, the motor drive scheme has been selected synchronous pulley.Because design speed is not high, but require the obstacle climbing ability of robot, thus adopted larger deceleration recently to improve the drive torque of wheel, to meet the driving requirement of rough road.In order further to reduce rotating speed and to increase drive torque, the miniature gears in motor output shaft and belt pulley is fastenedly connected, and the output shaft of big gear wheel connects Planetary wheel, and reduction ratio is 4:3.Motor is fastening by the deformed rod on bolt and chassis.
Robot motor used is the turbine and worm motor, and the turbine and worm motor has certain self-locking performance, namely in the situation that the outage, can not rotate under external force yet.
Four bar distortion chassis modules:
Based on the Bionic Design of nature animal motion, the distortion chassis of robot configuration can realize that the wheelspan of storage mode and the pattern of expansion transforms, as shown in Figure 5,6.Four-bar mechanism by four groups of symmetries is out of shape, and when launched on chassis, four-bar mechanism became a rhombus, and when shrank on chassis, four-bar mechanism became straight line, and every group of four-bar mechanism has independent driving device.
The principle of work of four bar deformation mechanisms as shown in Figure 7, in figure the below A motion of ordering be limited on 2 directions having a linear guides, and activated on the y direction by the screw mandrel slide block, thereby drive the rotation of other bars.And E point and B point are fixedly hinged at the two ends of floating frame, C, 2 of D have 3 degree of freedom, both can rotate, and also can move along x direction or y direction, thereby realize the conversion of the enveloping space of bar.
Planetary wheel is large enough to hold in the inner space that the frame that floats is arranged; the contraction of four-bar mechanism makes robot wheel can be hidden in to car body inside fully when storing; this will save the storage space of 30% left and right; and have certain protection train and an effect of motor; under complex environment, realize self-protection.
As shown in Figure 8, the linear guides of selecting is ball screw to four bar deformation mechanisms of conceptual design, and drive motor is selected the 20W DC speed-reducing.The effective travel of ball screw is 260mm, meets deformation requirements.Shown in Figure 9 is screw mandrel slide block links with connecting rod, by the pin joint of pivot pin, between bar and slide block, certain rotational angle can be arranged, and meets the basic demand of drive spindle distortion.
Four-wheel rocker arm suspension module:
The four-wheel rocker arm suspension is comprised of two hinged unsteady frames, by the homogenization system of robot, realizes the relative swing of rocking arm, and robot can adapt to the destructuring landform, keeps stability of motion, as shown in figure 10.A unsteady frame respectively is installed in the car body both sides.Each unsteady frame is a standalone module, supports two satellite gears.By the pivotable center shaft on body side frame, wheel can be complied with the physical features injustice, and keeps respectively taking turns pressure equalization.
It is to realize by the bearing on frame that pressure equalization is respectively taken turns in the function of the active adaptation to the ground of robot, maintenance, and bearing is fixed on frame.When road was uneven, wheel carried out adaptation to the ground by the mode around the rotation of bearing center axle.Because the right and left is also symmetrical standalone module, thus on working service more for convenience, when some modules go wrong, can change in time.
Consider the constraint of the weight of car body own, it is 20*20mm that the suspension frame adopts Xing Lv， cross section, angle specification.Aluminium is softer, can cut with cutting the aluminium machine, makes processing more convenient, and affixed without punching, efficiency is high, and fabrication cycle is shorter.In the commissioning test stage at robot, when framework goes wrong, facilitate reconfiguration.Angle type aluminium is connected to the situation that the rapid movement process of jolting there will be screw, bolt looseness unavoidably, but this project Robot Design speed per hour is slower, slowly runs, because it is relatively convenient to use angle type aluminum to make hinged unsteady frame.
Left and right muti-carriage vehicle module:
The vehicle body frame structure of robot is divided into the link member of left body, right body, and the pivotable center shaft of left/right-body connects by universal-joint.Consider the factors such as manufacture difficulty, part strength, pts wt, fabrication cycle and cost of manufacture, select angle type aluminium as agent structure.
The support of two symmetries of car body carrying platform support is separately fixed on the unsteady frame of left/right-body, is beneficial to realize the equal partial pressure of left/right-body, makes robot possess good landform adaptive capacity.Car body carrying platform material is inferior gram plate, can carry as required various practical instrument, for carrying the reconnaissance robot platform of camera.
The structure of hinged homogenizing car body makes robot in the process of moving, in the rugged situation in ground, can guarantee four groups of satellite gears ground connection simultaneously, has strengthened stability of motion and the landform adaptive capacity of robot.
Claims (4)
1. the satellite gear robot that connects of deformable left and right two pitch chains is characterized in that:
Comprise left and right two joint car bodies, and link into an integrated entity by rocker arm suspension, described rocker arm suspension and two joint car bodies carry out hinged;
The outside of described car body has four blocks of vertical hinged side plates, is respectively the side plate I, side plate II, side plate III, side plate IV, fixing front-wheel on described side plate I, fixing trailing wheel on described side plate IV;
The middle part of described side plate I and side plate IV is also hinged with forward and backward bogie truck respectively;
Every joint car body inside is fixed with a pair of ball screw up and down, and the hinged place of described side plate I and side plate II hinged place, side plate III and side plate IV is connected with ball screw separately by connecting rod respectively;
Described side plate I, side plate II, forecarriage, connecting rod form four bar deformation mechanisms, and described satellite gear robot has four groups of symmetrically arranged four bar deformation mechanisms, and four bar deformation mechanisms of described four groups of symmetries are chassis of described satellite gear robot.
2. satellite gear robot as claimed in claim 1, it is characterized in that: described rocker arm suspension is the four-wheel rocker arm suspension.
3. satellite gear robot as claimed in claim 1, it is characterized in that: described side plate is provided with the drive motor of ball screw.
4. satellite gear robot as claimed in claim 1 is characterized in that: described car body top also is provided with and rides over platform, and described carrying platform can carry the instruments such as camera, robotic arm.
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| CN2013103685627A CN103407510A (en) | 2013-08-21 | 2013-08-21 | Deformable planet wheel robot with left body and right body hinged |
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| CN2013103685627A CN103407510A (en) | 2013-08-21 | 2013-08-21 | Deformable planet wheel robot with left body and right body hinged |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608838A (en) * | 2014-12-08 | 2015-05-13 | 中国科学院合肥物质科学研究院 | Six foot wheel leg type climbing biomimetic robot |
| CN105864383A (en) * | 2016-05-06 | 2016-08-17 | 吉林大学 | Self-adaptive obstacle crossing mechanism |
| CN105905178A (en) * | 2016-05-06 | 2016-08-31 | 吉林大学 | Multifunctional obstacle crossing robot |
| CN106112957A (en) * | 2016-07-25 | 2016-11-16 | 南京理工大学 | A kind of two-sided traveling reconnaissance robot |
| CN106137570A (en) * | 2016-08-08 | 2016-11-23 | 李霞林 | A kind of obstacle-surmounting rescue vehicle based on parallel institution |
| CN106335566A (en) * | 2016-10-25 | 2017-01-18 | 徐洪恩 | Express delivery robot |
| CN106515898A (en) * | 2015-09-15 | 2017-03-22 | 中国科学院沈阳自动化研究所 | Flame-proof type obstacle-crossing robot |
| CN108749956A (en) * | 2018-08-20 | 2018-11-06 | 青岛港湾职业技术学院 | A kind of Omni-mobile carrier loader of variable footprint |
| CN109277624A (en) * | 2018-10-16 | 2019-01-29 | 娄素荷 | A kind of multifunctional fire-fighting lifting cutter device |
| CN110253593A (en) * | 2019-06-03 | 2019-09-20 | 北京交通大学 | Wheel type barrier-crossing robot with deformable body frame structure for automotive |
| CN110306611A (en) * | 2019-07-31 | 2019-10-08 | 石家庄铁道大学 | Equipment and tilt measurement are intelligently lifted for sliding inclinometer |
| CN110341793A (en) * | 2019-07-17 | 2019-10-18 | 宁波财经学院 | Mobile underpan |
| CN112298393A (en) * | 2020-11-03 | 2021-02-02 | 温州简杰机械科技有限公司 | Intelligent robot for security patrol |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608838A (en) * | 2014-12-08 | 2015-05-13 | 中国科学院合肥物质科学研究院 | Six foot wheel leg type climbing biomimetic robot |
| CN104608838B (en) * | 2014-12-08 | 2017-08-01 | 中国科学院合肥物质科学研究院 | The sufficient wheel leg type of one kind six is creeped bio-robot |
| CN106515898A (en) * | 2015-09-15 | 2017-03-22 | 中国科学院沈阳自动化研究所 | Flame-proof type obstacle-crossing robot |
| CN105864383B (en) * | 2016-05-06 | 2017-07-14 | 吉林大学 | A kind of self adaptation barrier getting over mechanism |
| CN105864383A (en) * | 2016-05-06 | 2016-08-17 | 吉林大学 | Self-adaptive obstacle crossing mechanism |
| CN105905178A (en) * | 2016-05-06 | 2016-08-31 | 吉林大学 | Multifunctional obstacle crossing robot |
| CN106112957A (en) * | 2016-07-25 | 2016-11-16 | 南京理工大学 | A kind of two-sided traveling reconnaissance robot |
| CN106137570A (en) * | 2016-08-08 | 2016-11-23 | 李霞林 | A kind of obstacle-surmounting rescue vehicle based on parallel institution |
| CN106137570B (en) * | 2016-08-08 | 2017-11-03 | 江苏金猫机器人科技有限公司 | A kind of obstacle-surmounting rescue vehicle based on parallel institution |
| CN106335566A (en) * | 2016-10-25 | 2017-01-18 | 徐洪恩 | Express delivery robot |
| CN106335566B (en) * | 2016-10-25 | 2018-10-02 | 泉州台商投资区钰宝商贸有限公司 | Robot is sent in a kind of express delivery with charge free |
| CN108749956A (en) * | 2018-08-20 | 2018-11-06 | 青岛港湾职业技术学院 | A kind of Omni-mobile carrier loader of variable footprint |
| CN109277624A (en) * | 2018-10-16 | 2019-01-29 | 娄素荷 | A kind of multifunctional fire-fighting lifting cutter device |
| CN110253593A (en) * | 2019-06-03 | 2019-09-20 | 北京交通大学 | Wheel type barrier-crossing robot with deformable body frame structure for automotive |
| CN110253593B (en) * | 2019-06-03 | 2021-07-20 | 北京交通大学 | Wheeled obstacle-surmounting robot with deformable frame structure |
| CN110341793A (en) * | 2019-07-17 | 2019-10-18 | 宁波财经学院 | Mobile underpan |
| CN110306611A (en) * | 2019-07-31 | 2019-10-08 | 石家庄铁道大学 | Equipment and tilt measurement are intelligently lifted for sliding inclinometer |
| CN112298393A (en) * | 2020-11-03 | 2021-02-02 | 温州简杰机械科技有限公司 | Intelligent robot for security patrol |
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Application publication date: 20131127 |