CN105667616B - Arc strut obstacle detouring dolly - Google Patents
Arc strut obstacle detouring dolly Download PDFInfo
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- CN105667616B CN105667616B CN201610114156.1A CN201610114156A CN105667616B CN 105667616 B CN105667616 B CN 105667616B CN 201610114156 A CN201610114156 A CN 201610114156A CN 105667616 B CN105667616 B CN 105667616B
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- strut
- vehicle body
- arc
- rotating shaft
- obstacle detouring
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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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Arc strut obstacle detouring dolly of the present invention belongs to robcup matches barrier-surpassing robot field, solves the problem of existing small vehicle speed of crawler type obstacle detouring is low, speed of going up on the stage is slow, and motion noise is big, use scheme for：Including vehicle body and master controller, the front and rear of vehicle body is provided with front-wheel, trailing wheel, vehicle body is provided with left side, right side, rear side infrared sensor, laser sensor and gray-scale sensor, the front end of vehicle body is installed with obstacle crossing device, obstacle crossing device includes reducing motor, the driving gear rotated with it is installed on its output shaft, driven gear is engaged with the driving gear, driven gear center is fixedly installed the strut rotating shaft rotated with it, strut rotating shaft is horizontally installed on the front end of vehicle body and the both ends of strut rotating shaft and extended on the outside of vehicle body, the both ends of strut rotating shaft are fixedly installed arc strut, main controller and motor, reducing motor, left side, right side, rear side infrared sensor, laser sensor, gray-scale sensor and encoder electrically connect.
Description
Technical field
The invention belongs to robcup match barrier-surpassing robots field, more particularly to a kind of arc strut obstacle detouring dolly.
Background technology
Chinese robot contest and RoboCup open championships held 17 since 1999, by organizing machine
People competes and Discussion on Technology, allows more masses especially adolescent student to understand robot, likes robot, is popularized to them
Current scientific knowledge, it is the more outstanding personnel of robot cause culture in China.Ground simultaneously by robot match and technology
Beg for, also to promote and promoting the development of robot and automatic technology and innovation, contributed share for the fast continual development in China.
In the indifference group challenge match of machine contest, competition area（That is ring, as shown in Figure 1）Size is length and width point
Wei not be 2400 mm, square short of high 150mm, platform upper surface is ring place.The a height of 60mm in place is oblique without entering the court
Slope.Robot can be from anywhere independently climbing up ring after zone of departure startup.Background color is respectively pure from outside corner to center
The black gray scale to pure white gradual change.There is high 500mm square black fence at the surrounding 700mm of place.
Competition area center is ring place, and a height of 60mm in ring place, without slope of entering the court, competition dolly needs voluntarily to step on
Then upper ring place is taken in competition, and needed also exist for 10 seconds after attacking ring place of dropping by other cars in the race in play
Ring place is inside voluntarily climbed up to be taken in competition.The crawler type obstacle detouring structure of existing car in the race generally use, it is caterpillar to get over
Barrier dolly can make car speed relatively low, and speed of going up on the stage is slow, and motion noise is big and underaction.
The content of the invention
The present invention overcomes the shortcomings of the prior art, solves that the existing small vehicle speed of crawler type obstacle detouring is low, speed of going up on the stage
Slowly, the problem of motion noise is big, it is desirable to provide a kind of arc strut obstacle detouring dolly, the arc strut obstacle detouring vehicle structure is simple,
Easy disassembly, can retain the basis of the quick mobility and flexibility of lorry makes dolly have obstacle climbing ability.
In order to solve the above technical problems, the technical solution adopted by the present invention is：Arc strut obstacle detouring dolly, including vehicle body and
Master controller, the front and rear sides of vehicle body are separately installed with two front-wheels and two trailing wheels, and front wheels and rear wheels pass through independent driving
Motor driven works, and the both sides of vehicle body are separately installed with left side infrared sensor and right side infrared sensor, the afterbody peace of vehicle body
Equipped with rear side infrared sensor and laser sensor, the bottom surface of vehicle body head and afterbody is provided with gray-scale sensor；
The front end of the vehicle body is installed with obstacle crossing device, and the obstacle crossing device includes reducing motor, reducing motor
The driving gear rotated with it is installed on output shaft, driven gear is engaged with the driving gear, driven gear center is consolidated
Surely the strut rotating shaft rotated with it is provided with, strut rotating shaft is horizontally installed on the front end of vehicle body and the both ends of strut rotating shaft and extended to
On the outside of vehicle body, the both ends of strut rotating shaft are fixedly installed arc strut；
The master controller is fixedly mounted on vehicle body, main controller and motor, reducing motor, left side, right side, rear side
Infrared sensor, laser sensor, gray-scale sensor and encoder electrically connect.
Further, encoder is installed on the output shaft of the reducing motor.
Further, the arc strut includes being integrally formed fixed base and the arc obstacle detouring portion of setting, fixed pedestal
On be preset with mounting hole for being connected with strut rotating shaft.
Further, bearing is provided with the strut rotating shaft between driven gear and both sides arc strut, bearing is arranged on
It is fixedly installed in the bearing block on vehicle body.
The present invention with prior art compared to have the advantage that for：Simple in construction, handling ease of the invention, dismounting side
Just.By increasing obstacle crossing device on the basis of original lorry, newly-increased obstacle crossing device does not change existing wheeled carriage knot
Structure, the quick mobility and flexibility of existing wheeled carriage is remained, horizontal displacement is become into projectile motion using arc strut,
Obstacle detouring speed is fast.
Brief description of the drawings
The present invention will be further described in detail below in conjunction with the accompanying drawings.
Fig. 1 is the competition area of the obstacle detouring dolly of the present invention.
Fig. 2 is the main structure diagram of the present invention.
Fig. 3 is the overlooking the structure diagram of arc strut obstacle detouring dolly.
The structural representation of Fig. 4 arc struts.
In figure：1 is vehicle body, and 2 be front-wheel, and 3 be trailing wheel, and 4 be motor, and 5 be reducing motor, and 6 be driving gear, and 7 are
Driven gear, 8 be strut rotating shaft, and 9 be arc strut, and 91 be fixed base, and 92 be arc obstacle detouring portion, and 10 be encoder, and 11 are
Bearing block, 12 be main controller, and 13 be left side infrared sensor, and 14 be right side infrared sensor, and 15 be rear side infrared sensor, 16
It is laser sensor for gray-scale sensor, 17.
Embodiment
It is understandable to enable objects, features and advantages of the present invention to become apparent, below in conjunction with the accompanying drawings to the tool of the present invention
Body embodiment is described in detail.
Fig. 2, Fig. 3 are refer to, Fig. 2 is a kind of embodiment of arc strut obstacle detouring dolly provided by the present invention
Schematic diagram.
In a kind of this embodiment, arc strut obstacle detouring dolly of the present invention, including vehicle body 1 and main control
Device, the front and rear sides of vehicle body 1 are separately installed with two front-wheels 2 and two trailing wheels 3, and front-wheel 2 and trailing wheel 3 pass through independent driving electricity
Machine 4 drives work, and the both sides of vehicle body 1 are separately installed with left side infrared sensor 13 and right side infrared sensor 14, the tail of vehicle body 1
Portion is provided with rear side infrared sensor 15 and laser sensor 17, and the bottom surface of the head of vehicle body 1 and afterbody is provided with gray scale sensing
Device 16.
The front end of the vehicle body 1 is installed with obstacle crossing device, and the obstacle crossing device includes reducing motor 5, reducing motor 5
Output shaft on the driving gear 6 rotated with it is installed, driven gear 7, driven gear 7 are engaged with the driving gear 6
Center is fixedly installed the strut rotating shaft 8 rotated with it, and strut rotating shaft 8 is horizontally installed on the front end of vehicle body 1 and strut rotating shaft 8
Both ends extend to the outside of vehicle body 1, and the both ends of strut rotating shaft 8 are fixedly installed arc strut 9.
The master controller is fixedly mounted on vehicle body 1, main controller 12 and motor 4, reducing motor 5, left side, the right side
Side, rear side infrared sensor 15, laser sensor 17, gray-scale sensor 16 and encoder 10 electrically connect.
As shown in figure 4, specifically the arc strut 9 includes being integrally formed fixed base 91 and the arc obstacle detouring portion of setting
92, the mounting hole for being connected with strut rotating shaft 8 is preset with fixed pedestal.Gained enlightenment by pole structure according to obstacle detouring dolly
Actual conditions, strut is designed as arc, the structure in arc obstacle detouring portion 92 is beneficial to reducing motor 5 and exports power, speed of appearing on the stage
It hurry up, success rate is high.
The present invention is mainly made up of two parts, the ratcheting mechanism normally walked and the barrier getting over mechanism for climbing up ring, wheeled machine
Structure is used for the normal walking that dolly is climbed up after ring, and barrier getting over mechanism climbs up ring place for dolly, and dolly climbs up ring place
Process be：The main controller 12 of obstacle detouring dolly judges the position of obstacle detouring dolly by receiving the signal that each sensor is beamed back, ash
Degree sensor 16 is used to judge whether obstacle detouring dolly is under ring, after obstacle detouring dolly is under ring, passes through swashing for afterbody
Optical sensor 17 is calibrated end to end, makes obstacle detouring dolly head towards ring, then pass through left side, right side and rear side infrared sensor
15 carry out left and right calibration and front and rear calibration, and signal is passed to main controller 12 by sensor after the completion of calibration, and main controller 12 sends letter
Obstacle crossing device number is given, obstacle crossing device work, which casts dolly, climbs up ring.
The operation principle of obstacle crossing device is：Reducing motor 5 drives driving gear 6 to rotate, and driving gear 6 drives and engaged
Driven gear 7 rotate, driven gear 7 by strut rotating shaft 8 drive both sides arc strut 9 rotate, arc strut 9 rotate with
Ground contact dolly is supported, small back wheels of vehicle 3 promote and arc strut 9 in the presence of, by dolly by moving horizontally
It is changed into projectile motion, so as to jump onto ring place, after jumping onto ring place, or using the driving walking of front and back wheel 3.
Whole obstacle crossing device is simple in construction, convenient disassembly, will not destroy the wheel type traveling mechanism of original vehicle, remain original
The flexibility of some wheeled constructions and rapidity, while there is the ability of fast obstacle, obstacle detouring speed is fast.
On the basis of above-described embodiment, in a kind of embodiment of the present invention, the output of the reducing motor 5
Encoder 10 is installed on axle.Increase encoder 10 on the output shaft of reducing motor 5, encoder 10 being capable of accurate measurement output shaft
The anglec of rotation, can provide a calibrating position by encoder 10, oneself can be returned to after making 9 each obstacle detouring of arc strut
Initial position, ensure the stability and accuracy of each obstacle detouring.
On the basis of above-described embodiment, in a kind of embodiment of the present invention, driven gear 7 and both sides arc
Bearing is provided with strut rotating shaft 8 between strut 9, bearing is arranged on and is fixedly installed in the bearing block 11 on vehicle body 1.Pass through
Increase bearing, ensure the stability of the whole rotary course of strut rotating shaft 8, so as to lift the accuracy during whole dolly obstacle detouring
And stability.
Simple in construction, handling ease of the invention, convenient disassembly.By increasing obstacle detouring on the basis of original lorry
Device, newly-increased obstacle crossing device do not change existing wheeled carriage structure, remain the quick mobility and flexibly of existing wheeled carriage
Property, horizontal displacement is become into projectile motion using arc strut 9, obstacle detouring speed is fast.
Embodiments of the invention are explained in detail above in conjunction with accompanying drawing, but the present invention is not limited to above-mentioned implementation
Example, in those of ordinary skill in the art's possessed knowledge, can also make on the premise of present inventive concept is not departed from
Go out various change.
Claims (4)
1. arc strut obstacle detouring dolly, it is characterised in that：Including vehicle body（1）And master controller, vehicle body（1）Front and rear sides difference
Two front-wheels are installed（2）With two trailing wheels（3）, front-wheel（2）And trailing wheel（3）Pass through independent driving motor（4）Drive work,
Vehicle body（1）Both sides be separately installed with left side infrared sensor（13）With right side infrared sensor（14）, vehicle body（1）Afterbody peace
Equipped with rear side infrared sensor（15）And laser sensor（17）, vehicle body（1）Head and the bottom surface of afterbody are provided with gray scale biography
Sensor（16）；
The vehicle body（1）Front end be installed with obstacle crossing device, the obstacle crossing device includes reducing motor（5）, reducing motor
（5）Output shaft on the driving gear rotated with it is installed（6）, the driving gear（6）On be engaged with driven gear（7）,
Driven gear（7）Center is fixedly installed the strut rotating shaft rotated with it（8）, strut rotating shaft（8）It is horizontally installed on vehicle body（1）'s
Front end and strut rotating shaft（8）Both ends extend to vehicle body（1）Outside, strut rotating shaft（8）Both ends be fixedly installed arc support
Bar（9）；
Reducing motor（5）Drive driving gear（6）Rotate, driving gear（6）Drive the driven gear engaged（7）Rotate,
Driven gear（7）Pass through strut rotating shaft（8）Drive the arc strut of both sides（9）Rotate, arc strut（9）Rotation contacts with ground
Dolly is supported, in small back wheels of vehicle（3）Promotion and arc strut（9）In the presence of, dolly is changed into from moving horizontally
Projectile motion, so as to jump onto ring place, after jumping onto ring place, using front-wheel（2）And trailing wheel（3）Driving walking；
The master controller is fixedly mounted on vehicle body（1）On, main controller（12）With motor（4）, reducing motor（5）, left side,
Right side, rear side infrared sensor（15）, laser sensor（17）, gray-scale sensor（16）And encoder（10）Electrically connect.
2. arc strut obstacle detouring dolly according to claim 1, it is characterised in that：The reducing motor（5）Output shaft
On encoder is installed（10）.
3. arc strut obstacle detouring dolly according to claim 1 or 2, it is characterised in that：The arc strut（9）Including one
The fixed base of body formed setting（91）With arc obstacle detouring portion（92）, be preset with fixed pedestal for and strut rotating shaft（8）Even
The mounting hole connect.
4. arc strut obstacle detouring dolly according to claim 3, it is characterised in that：Driven gear（7）Supportted with both sides arc
Bar（9）Between strut rotating shaft（8）On be provided with bearing, bearing is arranged on and is fixedly installed on vehicle body（1）On bearing block（11）
It is interior.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610114156.1A CN105667616B (en) | 2016-03-01 | 2016-03-01 | Arc strut obstacle detouring dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610114156.1A CN105667616B (en) | 2016-03-01 | 2016-03-01 | Arc strut obstacle detouring dolly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105667616A CN105667616A (en) | 2016-06-15 |
| CN105667616B true CN105667616B (en) | 2018-04-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610114156.1A Active CN105667616B (en) | 2016-03-01 | 2016-03-01 | Arc strut obstacle detouring dolly |
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| CN (1) | CN105667616B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965185B (en) * | 2017-05-17 | 2020-03-10 | 许昌学院 | Anti-falling control method for martial art arena competition robot |
| CN107678423B (en) * | 2017-08-17 | 2024-07-12 | 防灾科技学院 | Martial art arena trolley and control method thereof |
| CN109720430A (en) * | 2018-11-20 | 2019-05-07 | 天津职业技术师范大学 | Ring robot with device of going up on the stage and its method of going up on the stage |
| CN109966754A (en) * | 2019-03-25 | 2019-07-05 | 西北工业大学 | A kind of wushu ring robot that tail portion ramp type is gone up on the stage |
| CN113370206A (en) * | 2021-05-13 | 2021-09-10 | 中国地质大学（武汉） | Re-entry method of arena robot, control system and arena robot |
| CN113386887B (en) * | 2021-07-16 | 2023-02-07 | 太原工业学院 | Electric balance car |
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| JPS57160778A (en) * | 1981-03-31 | 1982-10-04 | Agency Of Ind Science & Technol | Foot drive unit for walking machine |
| CN101890986A (en) * | 2010-06-13 | 2010-11-24 | 上海中为智能机器人有限公司 | Deformable all-terrain adaptable robot walking mechanism |
| CN202098475U (en) * | 2011-04-27 | 2012-01-04 | 东南大学 | Motion joint mechanism of coring scout robot |
| CN102717845A (en) * | 2012-06-04 | 2012-10-10 | 常州五王电机有限公司 | Competition robot platform |
| CN103832498A (en) * | 2012-11-27 | 2014-06-04 | 哈尔滨市三和佳美科技发展有限公司 | Amphibious inspection robot |
| CN203651476U (en) * | 2014-01-21 | 2014-06-18 | 北京博创尚和科技有限公司 | All-terrain four-wheel drive mobile robot |
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2016
- 2016-03-01 CN CN201610114156.1A patent/CN105667616B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57160778A (en) * | 1981-03-31 | 1982-10-04 | Agency Of Ind Science & Technol | Foot drive unit for walking machine |
| CN101890986A (en) * | 2010-06-13 | 2010-11-24 | 上海中为智能机器人有限公司 | Deformable all-terrain adaptable robot walking mechanism |
| CN202098475U (en) * | 2011-04-27 | 2012-01-04 | 东南大学 | Motion joint mechanism of coring scout robot |
| CN102717845A (en) * | 2012-06-04 | 2012-10-10 | 常州五王电机有限公司 | Competition robot platform |
| CN103832498A (en) * | 2012-11-27 | 2014-06-04 | 哈尔滨市三和佳美科技发展有限公司 | Amphibious inspection robot |
| CN203651476U (en) * | 2014-01-21 | 2014-06-18 | 北京博创尚和科技有限公司 | All-terrain four-wheel drive mobile robot |
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| Publication number | Publication date |
|---|---|
| CN105667616A (en) | 2016-06-15 |
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