CN105539036A - Amphibious robot capable of moving on flat ground with wheels and surmounting obstacles with legs and working method of amphibious robot - Google Patents
Amphibious robot capable of moving on flat ground with wheels and surmounting obstacles with legs and working method of amphibious robot Download PDFInfo
- Publication number
- CN105539036A CN105539036A CN201510954668.4A CN201510954668A CN105539036A CN 105539036 A CN105539036 A CN 105539036A CN 201510954668 A CN201510954668 A CN 201510954668A CN 105539036 A CN105539036 A CN 105539036A
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- Prior art keywords
- obstacle detouring
- chassis
- obstacle
- pin
- robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an amphibious robot capable of moving on flat ground with wheels and surmounting obstacles with legs and a working method of the amphibious robot. The amphibious robot comprises a chassis, wherein at least two groups of wheels are symmetrically arranged on two sides of the chassis, and all the wheels are driven by corresponding wheel driving motors; at least two groups of obstacle surmounting feet are symmetrically arranged on the two sides of the chassis, all the obstacle surmounting feet are driven by corresponding module motors, and the obstacle surmounting feet adopt an arc-shaped structure; a distance sensor is arranged on the edge in the advancement direction of the chassis, and the distance sensor, all the wheel driving motors and the module motors are all fixed on the front surface of the chassis. According to the amphibious robot disclosed by the invention, the amphibious robot moves through the wheels on the flat ground; when encountering obstacles, the amphibious robot can surmount the obstacles through the obstacle surmounting feet; when entering water, the amphibious robot can float through the chassis and can paddle in water to advance through the obstacle surmounting feet. The amphibious robot disclosed by the invention selects different motion modes according to different environment, and the environment adaptability and the working efficiency of the amphibious robot are improved.
Description
[technical field]
The present invention relates to a kind of barrier-surpassing robot, be specifically related to a kind of level land-obstacle crossing type amphibious robot and method of work.
[background technology]
In recent years, in order to liberate the labour power of people further, Robotics obtains the progress of advancing by leaps and bounds, the kind of robot constantly increases, except mainly for the manufacture of except the industrial robot of industry, have also appeared and be applied to space flight, navigation, military affairs, combat a natural disaster the miniature mobile robot in the fields such as rescue.Miniature mobile robot has become the very important branch of specialized robot due to its special demand.This kind of robot has the features such as reliability is high, strong adaptability, disguise are strong, be easy to carry, and this becomes the ideal platform performing scouting and high-risk task.Their external forms are in different poses and with different expressions, from unpiloted robot battlebus to the robot device of various bionical external form.Due to the particularity of its application, miniature mobile robot all requires obstacle detouring mostly, be faced with the landform of many unknowns, various obstacle may be run into, so just cannot ensure that robot completes relevant task, therefore improve the landform comformability of mobile robot and obstacle climbing ability and become an important research direction.
At present, the traveling gear of domestic and international robot can be divided into wheeled, leg formula, crawler type etc. by move mode.But they all also exist corresponding defect separately: wheeled construction speed is fast, control flexibly, but obstacle climbing ability is limited; Leg formula Structure adaptation ability is strong, sight might as well, but control also the most complicated, time mobile, fuselage vibrations may be comparatively large, and be unsuitable for alerting ability, occasion that rapidity requirement is high; Caterpillar mobile robot weight is large, and energy consumption is high.Because often kind of structure has merits and faults, if by two wherein kind or various structures combines, play respective advantage, make up deficiency each other, the walking performance of robot just can be made to be very significantly improved.
[summary of the invention]
The object of the invention is to overcome above-mentioned deficiency, a kind of level land-obstacle crossing type amphibious robot and method of work are provided, move with wheel when level land, when running into obstacle, carrying out obstacle detouring from employing leg, and utilize the structure of chassis and leg to realize the movement in water.
In order to achieve the above object, a kind of level land-obstacle crossing type amphibious robot, comprise chassis, the bilateral symmetry on chassis is provided with at least two group wheels, all wheels are all driven by the wheel drive motor corresponding with it, the bilateral symmetry on chassis is provided with at least two group obstacle detouring pin, all obstacle detouring pin are driven by the module motor corresponding with it, obstacle detouring pin is arcuate structure, the edge of chassis working direction is provided with rang sensor, and rang sensor and all wheel drive motor and module motor are all fixed on front, chassis.
Described module motor comprises the obstacle detouring pin drive motor of code-disc, opto-electronic pickup and driving obstacle detouring pin.
Described obstacle detouring pin has jagged boss.
The edge on described chassis has the arcuate structure be upturned.
Distance in described one group of obstacle detouring pin between two obstacle detouring pin is greater than the distance in one group of wheel between two wheels.
Described obstacle detouring pin is connected with obstacle detouring foot support by bolt, and obstacle detouring foot support is connected with module motor with coupler by pin;
Described wheel drive motor is connected with wheel by coupler.
Described drive motor is connected with chassis by motor cabinet, and rang sensor is connected with chassis by sensor stand;
Described motor cabinet is connected by bolt and nut with chassis, and sensor stand is connected by bolt and nut with chassis.
A method of work for level land-obstacle crossing type amphibious robot, comprises following content:
During level land, drive wheel turns by wheel drive motor, make robot carry out forward-reverse, each motor drives a wheel respectively, and the horsepower output of robot can be made so large, and when moment of torsion is constant, speed can increase;
When robot runs into preceding object, by the distance of the rang sensor cognitive disorders thing in robot front, when robot and preceding object thing distance are within 50mm, obstacle detouring leg is made to start the coordinated movement of various economic factors respectively, module motor drives corresponding obstacle detouring pin to rotate, until complete obstacle detouring is namely when robot is again behind level land, and rang sensor identification obstacle detouring, each obstacle detouring leg turns to initial position successively to be stopped, thus ensures that wheel drive machines people advances;
When robot enters in water, floated on the surface by chassis, module motor drives corresponding obstacle detouring pin to rotate, and robot can be advanced in water.
During level land, when robot is turned at needs, the wheel of side, chassis slows down, and the wheel of opposite side accelerates;
Time in water, robot is made to realize left and right turn in water by regulating the rotating speed of both sides, chassis obstacle detouring leg.
Described obstacle detouring leg starts the coordinated movement of various economic factors and comprises the first obstacle detouring leg and first rotate, and after rotating 120 °, the second obstacle detouring leg starts to rotate; After second obstacle detouring leg rotates 120 °, the 4th obstacle detouring leg starts to rotate; After 4th obstacle detouring leg rotates 120 °, the 3rd obstacle detouring leg starts to rotate, and after the 3rd obstacle detouring leg rotates 120 °, repeats to rotate to the first obstacle detouring leg.
With prior art correlation ratio, the present invention is moved by wheel when level land, when running into obstacle, multiple obstacle detouring pin clear an obstacle can be passed through, when entering in water, can be floating by chassis, and to be struck advance by obstacle detouring pin, the present invention selects different mode of motion according to varying environment, improve environment-adapting ability and work efficiency, have volume little, energy consumption is low, and movable blind area is little, the flexibly advantage such as stable, total advantages of simple, is easy to realize distortion, can be widely used in the occasion of productive life.
Further, the obstacle detouring pin that module motor of the present invention comprises code-disc, opto-electronic pickup and driving obstacle detouring pin drives electricity, machine makes motor module like this, common motor is made to have feedback, thus the phase angle of the startup of each obstacle detouring leg, stopping and rotation can be controlled, moreover motor moduleization can make easy to maintenance, easily replaces.
Further, obstacle detouring pin of the present invention has jagged boss, enable obstacle detouring leg snap into the corner of obstacle when crossing over blockage, ensure obstacle detouring stability, when striking, improve the contact surface with water.
Further, the edge on chassis of the present invention has the arcuate structure be upturned, and can increase the displacement of this device, and it has certain buoyancy in water, better swims on the water surface.
Further, the distance in the present invention's one group of obstacle detouring pin between two obstacle detouring pin is greater than the distance in one group of wheel between two wheels, advance and crossing over blockage time more steady.
[accompanying drawing explanation]
Fig. 1 is overall assembly drowing of the present invention;
Fig. 2 is birds-eye view of the present invention;
Fig. 3 is the left view of the present inventor.
[detailed description of the invention]
Below in conjunction with accompanying drawing, the present invention will be further described.
See Fig. 1, Fig. 2 and Fig. 3, a kind of level land-obstacle crossing type amphibious robot, comprise chassis 14, the edge on chassis 14 has the arcuate structure be upturned, the bilateral symmetry on chassis 14 is provided with at least two group wheels, all wheels are all driven by the wheel drive motor 12 corresponding with it, the bilateral symmetry on chassis 14 is provided with at least two group obstacle detouring pin, obstacle detouring pin has jagged boss, all obstacle detouring pin are driven by the module motor corresponding with it, obstacle detouring pin is arcuate structure, the edge of chassis 14 working direction is provided with rang sensor 10, rang sensor 10 and all wheel drive motor 12 and module motor are all fixed on front, chassis 14, module motor comprises code-disc, the obstacle detouring pin drive motor of opto-electronic pickup and driving obstacle detouring pin, distance in one group of obstacle detouring pin between two obstacle detouring pin is greater than the distance in one group of wheel between two wheels, obstacle detouring pin is connected with obstacle detouring foot support 17 by bolt, obstacle detouring foot support 17 is connected with module motor with coupler 16 by pin, wheel drive motor 12 is connected with wheel by coupler 16, and drive motor 12 is connected with chassis 14 by motor cabinet, and rang sensor 10 is connected with chassis 14 by sensor stand, motor cabinet is connected by bolt and nut with chassis 14, and sensor stand is connected by bolt and nut with chassis 14.
Preferably, this device has four obstacle detouring pin and four wheels, the axial width of obstacle detouring leg is 20mm, wherein, first module motor 10 drives the first obstacle detouring pin 1, second module motor 11 drives the second obstacle detouring pin the 3, three module motor 13 to drive the 3rd obstacle detouring pin 5, and four module motor 15 drives the 4th obstacle detouring pin 7; First wheel drive motor drives the first wheel 2, second wheel drive motor to drive the second wheel 4, and the sub-drive motor of third round drives third round 6, and the sub-drive motor of fourth round drives fourth round 8.
A method of work for level land-obstacle crossing type amphibious robot, comprises following content:
During level land, wheel turns is driven by wheel drive motor 12, robot is made to carry out forward-reverse, each motor drives a wheel respectively, the horsepower output of robot can be made so large, when moment of torsion is constant, speed can increase, when robot is turned at needs, the wheel of side, chassis 14 slows down, and the wheel of opposite side accelerates;
When robot runs into preceding object, by the distance of the rang sensor 10 cognitive disorders thing in robot front, when robot and preceding object thing distance are within 50mm, obstacle detouring leg is made to start the coordinated movement of various economic factors respectively, module motor drives corresponding obstacle detouring pin to rotate, until obstacle detouring is namely when robot is again behind level land completely, rang sensor 10 identifies obstacle detouring, each obstacle detouring leg turns to initial position successively to be stopped, thus ensures that wheel drive machines people advances;
When robot enters in water, floated on the surface by chassis 14, module motor drives corresponding obstacle detouring pin to rotate, and robot can be advanced in water, makes robot realize left and right turn in water by regulating the rotating speed of both sides, chassis 14 obstacle detouring leg.
Obstacle detouring leg starts the coordinated movement of various economic factors and comprises the first obstacle detouring leg 1 and first rotate, and after rotating 120 °, the second obstacle detouring leg 3 starts to rotate; After second obstacle detouring leg 3 rotates 120 °, the 4th obstacle detouring leg 7 starts to rotate; After 4th obstacle detouring leg 7 rotates 120 °, the 3rd obstacle detouring leg 5 starts to rotate, and after the 3rd obstacle detouring leg 5 rotates 120 °, repeats to rotate to the first obstacle detouring leg 1.
Claims (10)
1. level land-obstacle crossing type amphibious robot, it is characterized in that: comprise chassis (14), the bilateral symmetry on chassis (14) is provided with at least two group wheels, all wheels are all driven by the wheel drive motor (12) corresponding with it, the bilateral symmetry on chassis (14) is provided with at least two group obstacle detouring pin, all obstacle detouring pin are driven by the module motor corresponding with it, obstacle detouring pin is arcuate structure, the edge of chassis (14) working direction is provided with rang sensor (10), rang sensor (10) and all wheel drive motor (12) and module motor are all fixed on chassis (14) front.
2. a kind of level land-obstacle crossing type amphibious robot according to claim 1, is characterized in that: described module motor comprises the obstacle detouring pin drive motor of code-disc, opto-electronic pickup and driving obstacle detouring pin.
3. a kind of level land-obstacle crossing type amphibious robot according to claim 1, is characterized in that: described obstacle detouring pin has jagged boss.
4. a kind of level land-obstacle crossing type amphibious robot according to claim 1, is characterized in that: the edge of described chassis (14) has the arcuate structure be upturned.
5. a kind of level land-obstacle crossing type amphibious robot according to claim 1, is characterized in that: the distance in described one group of obstacle detouring pin between two obstacle detouring pin is greater than the distance in one group of wheel between two wheels.
6. a kind of level land-obstacle crossing type amphibious robot according to claim 1, it is characterized in that: described obstacle detouring pin is connected with obstacle detouring foot support (17) by bolt, obstacle detouring foot support (17) is connected with module motor with coupler (16) by pin;
Described wheel drive motor (12) is connected with wheel by coupler (16).
7. a kind of level land-obstacle crossing type amphibious robot according to claim 1, it is characterized in that: described drive motor (12) is connected with chassis (14) by motor cabinet, rang sensor (10) is connected with chassis (14) by sensor stand;
Described motor cabinet is connected by bolt and nut with chassis (14), and sensor stand is connected by bolt and nut with chassis (14).
8. the method for work of a kind of level land-obstacle crossing type amphibious robot according to claim 1, is characterized in that: comprise following content:
During level land, drive wheel turns by wheel drive motor (12), make robot carry out forward-reverse, each motor drives a wheel respectively, and the horsepower output of robot can be made so large, and when moment of torsion is constant, speed can increase;
When robot runs into preceding object, by the distance of rang sensor (10) the cognitive disorders thing in robot front, when robot and preceding object thing distance are within 50mm, obstacle detouring leg is made to start the coordinated movement of various economic factors respectively, module motor drives corresponding obstacle detouring pin to rotate, until complete obstacle detouring is namely when robot is again behind level land, rang sensor (10) identifies obstacle detouring, each obstacle detouring leg turns to initial position successively to be stopped, thus ensures that wheel drive machines people advances;
When robot enters in water, floated on the surface by chassis (14), module motor drives corresponding obstacle detouring pin to rotate, and robot can be advanced in water.
9. the method for work of a kind of level land-obstacle crossing type amphibious robot according to claim 8, is characterized in that: during level land, and when robot is turned at needs, the wheel of chassis (14) side slows down, and the wheel of opposite side accelerates;
Time in water, robot is made to realize left and right turn in water by regulating the rotating speed of chassis (14) both sides obstacle detouring leg.
10. the method for work of a kind of level land-obstacle crossing type amphibious robot according to claim 8, it is characterized in that: described obstacle detouring leg starts the coordinated movement of various economic factors and comprises the first obstacle detouring leg (1) and first rotate, after rotating 120 °, the second obstacle detouring leg (3) starts to rotate; After second obstacle detouring leg (3) rotates 120 °, the 4th obstacle detouring leg (7) starts to rotate; After 4th obstacle detouring leg (7) rotates 120 °, the 3rd obstacle detouring leg (5) starts to rotate, and the 3rd obstacle detouring leg (5) repeats to rotate to the first obstacle detouring leg (1) after rotating 120 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510954668.4A CN105539036A (en) | 2015-12-17 | 2015-12-17 | Amphibious robot capable of moving on flat ground with wheels and surmounting obstacles with legs and working method of amphibious robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510954668.4A CN105539036A (en) | 2015-12-17 | 2015-12-17 | Amphibious robot capable of moving on flat ground with wheels and surmounting obstacles with legs and working method of amphibious robot |
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| CN105539036A true CN105539036A (en) | 2016-05-04 |
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| CN201510954668.4A Pending CN105539036A (en) | 2015-12-17 | 2015-12-17 | Amphibious robot capable of moving on flat ground with wheels and surmounting obstacles with legs and working method of amphibious robot |
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Cited By (9)
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| CN105752186A (en) * | 2016-05-10 | 2016-07-13 | 苏州工业职业技术学院 | Wheel-foot switching type robot system and control method thereof |
| CN108185922A (en) * | 2018-01-16 | 2018-06-22 | 刘肖俊 | A kind of New Type Large Area sewage purification Green Machine people |
| WO2018188362A1 (en) * | 2017-04-11 | 2018-10-18 | 上海岭先机器人科技股份有限公司 | Robot movement mechanism having bipedal walking and wheeled movement conversion function |
| CN109050706A (en) * | 2018-07-07 | 2018-12-21 | 胡俊 | A kind of obstacle detouring type trolley |
| CN109649097A (en) * | 2018-12-17 | 2019-04-19 | 上海交通大学 | A kind of amphibious carrier loader |
| CN110367868A (en) * | 2019-07-09 | 2019-10-25 | 苏州康鸿智能装备股份有限公司 | A kind of climbing robot and obstacle detouring control method with barrier getting over mechanism |
| CN113291112A (en) * | 2021-06-01 | 2021-08-24 | 中国北方车辆研究所 | Leg and paddle composite type amphibious robot |
| CN113306349A (en) * | 2021-05-05 | 2021-08-27 | 天津理工大学 | Amphibious mobile robot with multiple motion modes |
| CN114378829A (en) * | 2022-01-30 | 2022-04-22 | 四川大学 | GIS horizontal cavity overhauling robot and GIS horizontal cavity overhauling system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105752186A (en) * | 2016-05-10 | 2016-07-13 | 苏州工业职业技术学院 | Wheel-foot switching type robot system and control method thereof |
| WO2018188362A1 (en) * | 2017-04-11 | 2018-10-18 | 上海岭先机器人科技股份有限公司 | Robot movement mechanism having bipedal walking and wheeled movement conversion function |
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| CN113291112A (en) * | 2021-06-01 | 2021-08-24 | 中国北方车辆研究所 | Leg and paddle composite type amphibious robot |
| CN114378829A (en) * | 2022-01-30 | 2022-04-22 | 四川大学 | GIS horizontal cavity overhauling robot and GIS horizontal cavity overhauling system |
| CN114378829B (en) * | 2022-01-30 | 2023-05-09 | 四川大学 | GIS horizontal cavity physical examination robot and GIS horizontal cavity physical examination system |
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Application publication date: 20160504 |