CN105774946A - Robot with obstacle crossing function - Google Patents
Robot with obstacle crossing function Download PDFInfo
- Publication number
- CN105774946A CN105774946A CN201610199320.3A CN201610199320A CN105774946A CN 105774946 A CN105774946 A CN 105774946A CN 201610199320 A CN201610199320 A CN 201610199320A CN 105774946 A CN105774946 A CN 105774946A
- Authority
- CN
- China
- Prior art keywords
- servomotor
- robot
- gunpowder
- rear frame
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000003721 gunpowder Substances 0.000 claims abstract description 36
- 238000013016 damping Methods 0.000 claims abstract description 29
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K8/00—Arrangement or mounting of propulsion units not provided for in one of the preceding main groups
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention provides a robot with an obstacle crossing function. The robot comprises damping wheels, a front vehicle frame, supporting wheels and the like. Each damping wheel comprises an outer rim, a hub, first damping springs, second damping springs and an installation disc, and three hinging supports are arranged in the outer rim; and three hinging supports are arranged on the periphery of the outer circle of the hub, and three spherical joints are arranged on the inner end face of the hub. By the adoption of the robot, the four all-directional spring damping wheels are adopted, energy generated by the robot falling from the upper air can be absorbed, damage caused by the ground impact force to inner elements of the robot is prevented, recoil force is provided for the robot through a gunpowder backflush device in the obstacle crossing process, the robot can easily cross a high wall and an obstacle with the height ranging from 7 m to 9 m, and the obstacle crossing ability of the robot far exceeds that of a common obstacle crossing robot.
Description
Technical field
The present invention relates to robotics, particularly to a kind of robot with obstacle crossing function.
Background technology
Current earthquake disaster, fire, the natural disasters such as terrorism or man power disaster constantly threaten development and the safety of human society, intelligent machine Man's Demands for having the functions such as scouting, obstacle detouring is also increasing, current barrier-surpassing robot great majority are caterpillar, can not climb over a high wall, the barrier such as hedge, hinder the development of barrier-surpassing robot.
Summary of the invention
For the problems referred to above, the present invention provides a kind of robot with obstacle crossing function, its spring shock-absorbing wheel utilizing high damping performance and damping frame coordinate the gunpowder recoiling device with controllability, make robot be provided with high obstacle climbing ability, can easily cross high-wall, the barrier of 7 ~ 9 meters.Technical scheme used in the present invention is: a kind of robot with obstacle crossing function, including shock-absorbing wheel, front frame, support wheel, photographic head, controller, vehicle frame damping spring, Rear frame, the first servomotor, gunpowder recoil device, the second servomotor, swivel mount, support bar, steering wheel, first connecting rod, second connecting rod, the 3rd servomotor, it is characterized in that: described shock-absorbing wheel includes outer rim, wheel hub, the first damping spring, the second damping spring, mounting disc, arranges 3 articulated stands inside described outer rim；Described wheel hub encloses at excircle and is provided with 3 articulated stands, and the inner face at wheel hub is provided with 3 flexural pivots；Described mounting disc outer face is provided with 3 articulated stands；First described damping spring one end is rotatably installed on the articulated stand within outer rim, and the other end is rotatably installed on the articulated stand around wheel hub cylindrical；Second described damping spring one end is by bulb hinged flexural pivot on wheel hub inner face, and the other end is rotatably installed on the articulated stand on mounting disc outer face；Described vehicle frame damping spring is disposed in parallel between front frame and Rear frame；The second described servomotor is fixed on Rear frame top straight up；Described swivel mount is made up of 6 poles of center disk and centrally disposed disk perimeter, and wherein center disk is fixing with the output shaft of the second servomotor is connected, and pole end arranges the first servomotor, and the first servomotor level is installed；The gunpowder back flush unit that described gunpowder recoil device is arranged in mounting flange front end by mounting flange and 6 is constituted, each gunpowder back flush unit includes a micro electric detonator and a miniature saucisson, miniature saucisson is built with 6 ~ 10 grams of cordites, often being finished a gunpowder back flush unit in use just allows the first servomotor rotate 60 °, all the time the gunpowder back flush unit allowing blast is positioned at foot, namely the position that distance Rear frame upper surface is nearest, and the centrage of the direction recoiled and Rear frame is point-blank, if 6 gunpowder back flush units exhaust, swivel mount is allowed to rotate 60 °, a new gunpowder recoil device is allowed to be in the rearmost position of Rear frame, until whole gunpowder back flush units is finished, the mounting flange back of gunpowder recoil device is arranged on the output shaft of the first servomotor；Described steering wheel is arranged on Rear frame bottom, the output shaft of steering wheel and the central axis of Rear frame；Described first connecting rod one end is fixed on the output shaft of steering wheel, the end of the other end and second connecting rod is articulated and connected, pin in the middle part of described second connecting rod end and support bar is hinged, and described support bar end is hinged on the hinge stent at Rear frame rear portion, is provided with support wheel in support bar end；The 3rd described servomotor is fixed on the both sides of front frame and Rear frame, and described shock-absorbing wheel is fixedly mounted on the output shaft of the 3rd servomotor by mounting disc；Described photographic head is arranged on front frame front portion；Described controller is fixed on the rear portion of front frame, and controller is connected by circuit and the first servomotor, the second servomotor, the 3rd servomotor, electric cap, photographic head.
Further, described outer rim is formed through injection by fluorubber material.
Further, equipped with lithium battery inside described controller, controller can carry out real-time communication by wireless with the terminal such as mobile phone, computer.
Owing to present invention employs technique scheme, the invention have the advantages that
1. adopt four comprehensive spring shock absorption wheels, it is possible to absorb the energy that robot gets off from falling from high altitude, it is prevented that the infringement to robot interior element of the ground shock power.
2. provide recoil strength when adopting gunpowder recoil device to robot obstacle detouring, it is possible to easily cross high-wall, the barrier of 7 ~ 9 meters, the obstacle climbing ability of remote super general barrier-surpassing robot.
3. by arranging photographic head, it is possible to scouting, detection place carry out careful scouting, detection, finally by controller, detection data is sent on hand-held terminal device.
Accompanying drawing explanation
Fig. 1 is the entirety assembling perspective view of the present invention.
Fig. 2 is present invention schematic side view when carrying out obstacle detouring.
Fig. 3 is the present invention another angle schematic diagram when carrying out obstacle detouring.
Fig. 4 is the polycrystalline substance schematic diagram of the present invention.
Fig. 5 is the shock-absorbing wheel structural representation of the present invention.
Fig. 6 is the shock-absorbing wheel contained spring scheme of installation of the present invention.
Fig. 7 is the wheel hub structure schematic diagram of the present invention.
Drawing reference numeral: 1-shock-absorbing wheel；2-front frame；3-supports wheel；4-photographic head；5-controller；6-vehicle frame damping spring；7-Rear frame；8-the first servomotor；9-gunpowder recoil device；10-the second servomotor；11-swivel mount；12-support bar；13-steering wheel；14-first connecting rod；15-second connecting rod；16-the 3rd servomotor；The outer rim of 101-；102-wheel hub；103-the first damping spring；104-the second damping spring；105-mounting disc.
Detailed description of the invention
By the examples below, and in conjunction with accompanying drawing, technical scheme is described in further detail.
Embodiment 1
Such as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, shown in Fig. 7, a kind of robot with obstacle crossing function, including shock-absorbing wheel 1, front frame 2, support wheel 3, photographic head 4, controller 5, vehicle frame damping spring 6, Rear frame 7, first servomotor 8, gunpowder recoil device 9, second servomotor 10, swivel mount 11, support bar 12, steering wheel 13, first connecting rod 14, second connecting rod 15, 3rd servomotor 16, it is characterized in that: described shock-absorbing wheel 1 includes outer rim 101, wheel hub 102, first damping spring 103, second damping spring 104, mounting disc 105, described outer rim 101 is internal arranges 3 articulated stands；Described wheel hub 102 encloses at excircle and is provided with 3 articulated stands, and the inner face at wheel hub 102 is provided with 3 flexural pivots；Described mounting disc 105 outer face is provided with 3 articulated stands；First described damping spring 103 one end is rotatably installed on the articulated stand within outer rim 101, and the other end is rotatably installed on the articulated stand around wheel hub 102 cylindrical；Second described damping spring 104 one end is by bulb hinged flexural pivot on wheel hub 102 inner face, and the other end is rotatably installed on the articulated stand on mounting disc 105 outer face；Described vehicle frame damping spring 6 is disposed in parallel between front frame 2 and Rear frame 7；The second described servomotor 10 is fixed on Rear frame 7 top straight up；Described swivel mount 11 is made up of 6 poles of center disk and centrally disposed disk perimeter, and wherein center disk is fixing with the output shaft of the second servomotor 10 is connected, and pole end arranges the first servomotor 8, and the first servomotor 8 level is installed；The gunpowder back flush unit that described gunpowder recoil device 9 is arranged in mounting flange front end by mounting flange and 6 is constituted, each gunpowder back flush unit includes a micro electric detonator and a miniature saucisson, miniature saucisson is built with 6 grams of cordites, often being finished a gunpowder back flush unit in use just allows the first servomotor 8 rotate 60 °, all the time the gunpowder back flush unit allowing blast is positioned at foot, namely the position that distance Rear frame 7 upper surface is nearest, and the centrage of the direction recoiled and Rear frame 7 is point-blank, if 6 gunpowder back flush units exhaust, swivel mount 11 is allowed to rotate 60 °, a new gunpowder recoil device 9 is allowed to be in the rearmost position of Rear frame 7, until whole gunpowder back flush units is finished, the mounting flange back of gunpowder recoil device 9 is arranged on the output shaft of the first servomotor 8；Described steering wheel 13 is arranged on the central axis of Rear frame 7 bottom, the output shaft of steering wheel 13 and Rear frame 7；Described first connecting rod 14 one end is fixed on the output shaft of steering wheel 13, the end of the other end and second connecting rod 15 is articulated and connected, pin in the middle part of described second connecting rod 15 end and support bar 12 is hinged, described support bar 12 end is hinged on the hinge stent at Rear frame 7 rear portion, is provided with support wheel 3 in support bar 12 end；The 3rd described servomotor 16 is fixed on front frame 2 and the both sides of Rear frame 7, and described shock-absorbing wheel 1 is fixedly mounted on the output shaft of the 3rd servomotor 16 by mounting disc 105；It is anterior that described photographic head 4 is arranged on front frame 2；Described controller 5 is fixed on the rear portion of front frame 2, and controller 5 is connected by circuit and first servomotor the 8, second servomotor the 10, the 3rd servomotor 16, electric cap, photographic head 4.
Described outer rim 101 is formed through injection by fluorubber material.
Described controller 5 is internal equipped with lithium battery, and controller 5 can carry out real-time communication by wireless with the terminal such as mobile phone, computer.
Operation principle of the present invention: robot relies on the 3rd servomotor 16 to drive shock-absorbing wheel 1 to walk on smooth-riding surface, then utilize steering wheel 13 to drive 12 robots of support bar to erect when needs carry out obstacle detouring, robot and ground are 70 ° ~ 85 ° angles, the saucisson in cap sensitive gunpowder back flush unit is then passed through after adjusting angle, recoil strength during gunpowder explosion is utilized to push in the air by robot, drop on the ground after surmounting obstacles, robot is absorbed from the energy fallen down in the air by shock-absorbing wheel 1 and vehicle frame damping spring 6, carry out after surmounting obstacles scouting or detection operations, scout or detected and be sent on the handheld terminal of operator by 5 results of controller afterwards.
Claims (3)
1. a robot with obstacle crossing function, including shock-absorbing wheel (1), front frame (2), support wheel (3), photographic head (4), controller (5), vehicle frame damping spring (6), Rear frame (7), first servomotor (8), gunpowder recoil device (9), second servomotor (10), swivel mount (11), support bar (12), steering wheel (13), first connecting rod (14), second connecting rod (15), 3rd servomotor (16), it is characterized in that: described shock-absorbing wheel (1) includes outer rim (101), wheel hub (102), first damping spring (103), second damping spring (104), mounting disc (105), described outer rim (101) is internal arranges 3 articulated stands；Described wheel hub (102) encloses at excircle and is provided with 3 articulated stands, and the inner face at wheel hub (102) is provided with 3 flexural pivots；Described mounting disc (105) outer face is provided with 3 articulated stands；Described the first damping spring (103) one end is rotatably installed on the articulated stand that outer rim (101) is internal, and the other end is rotatably installed on the articulated stand around wheel hub (102) cylindrical；Described the second damping spring (104) one end is by bulb hinged flexural pivot on wheel hub (102) inner face, and the other end is rotatably installed on the articulated stand on mounting disc (105) outer face；Described vehicle frame damping spring (6) is disposed in parallel between front frame (2) and Rear frame (7)；Described the second servomotor (10) is fixed on Rear frame (7) top straight up；Described swivel mount (11) is made up of 6 poles of center disk and centrally disposed disk perimeter, wherein center disk is fixing with the output shaft of the second servomotor (10) is connected, pole end arranges the first servomotor (8), and the first servomotor (8) level is installed；nullThe gunpowder back flush unit that described gunpowder recoil device (9) is arranged in mounting flange front end by mounting flange and 6 is constituted，Each gunpowder back flush unit includes a micro electric detonator and a miniature saucisson，Miniature saucisson is built with 6 ~ 10 grams of cordites，Often being finished a gunpowder back flush unit in use just allows the first servomotor (8) rotate 60 °，All the time the gunpowder back flush unit allowing blast is positioned at foot，Namely the position that distance Rear frame (7) upper surface is nearest，And the centrage of the direction recoiled and Rear frame (7) is point-blank，If 6 gunpowder back flush units exhaust, swivel mount (11) is allowed to rotate 60 °，New gunpowder recoil device (9) is allowed to be in the rearmost position of Rear frame (7)，Until whole gunpowder back flush units is finished，The mounting flange back of gunpowder recoil device (9) is arranged on the output shaft of the first servomotor (8)；Described steering wheel (13) is arranged on the central axis of Rear frame (7) bottom, the output shaft of steering wheel (13) and Rear frame (7)；Described first connecting rod (14) one end is fixed on the output shaft of steering wheel (13), the end of the other end and second connecting rod (15) is articulated and connected, described second connecting rod (15) end is hinged with the pin at support bar (12) middle part, described support bar (12) end is hinged on the hinge stent at Rear frame (7) rear portion, is provided with support wheel (3) in support bar (12) end；The 3rd described servomotor (16) is fixed on front frame (2) and the both sides of Rear frame (7), and described shock-absorbing wheel (1) is fixedly mounted on the output shaft of the 3rd servomotor (16) by mounting disc (105)；It is anterior that described photographic head (4) is arranged on front frame (2)；Described controller (5) is fixed on the rear portion of front frame (2), and controller (5) is connected by circuit and the first servomotor (8), the second servomotor (10), the 3rd servomotor (16), electric cap, photographic head (4).
2. a kind of robot with obstacle crossing function according to claim 1, it is characterised in that: described outer rim (101) is formed through injection by fluorubber material.
3. a kind of robot with obstacle crossing function according to claim 1, it is characterised in that: described controller (5) is internal equipped with lithium battery, and controller (5) can carry out real-time communication by wireless with the terminal such as mobile phone, computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610199320.3A CN105774946B (en) | 2016-04-02 | A kind of robot with obstacle crossing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610199320.3A CN105774946B (en) | 2016-04-02 | A kind of robot with obstacle crossing function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105774946A true CN105774946A (en) | 2016-07-20 |
| CN105774946B CN105774946B (en) | 2019-07-16 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108297062A (en) * | 2018-02-06 | 2018-07-20 | 苏州功业肆点零智能科技有限公司 | A kind of intelligent robot with decrease of noise functions |
| CN109011627A (en) * | 2018-08-30 | 2018-12-18 | 北京成长体验文化发展有限公司 | Obstacle detouring toy car |
| CN110386193A (en) * | 2019-06-25 | 2019-10-29 | 北京大成高科机器人技术有限公司 | All-terrain vehicle chassis |
| CN113002244A (en) * | 2021-03-16 | 2021-06-22 | 重庆大学 | Deep space exploration bouncing robot |
| CN117125163A (en) * | 2023-10-24 | 2023-11-28 | 中北大学 | Jumping type mobile trolley robot |
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| JPH06198582A (en) * | 1992-11-05 | 1994-07-19 | Commiss Energ Atom | Walking robot foot |
| JPH09142346A (en) * | 1995-11-17 | 1997-06-03 | Toyota Motor Corp | Vehicle |
| CN1994804A (en) * | 2006-12-21 | 2007-07-11 | 浙江大学 | Wheel, leg, bounce mechanism combined mobile robot |
| JP4554140B2 (en) * | 2002-03-12 | 2010-09-29 | 独立行政法人科学技術振興機構 | Multi-legged walking robot |
| CN201784421U (en) * | 2010-07-30 | 2011-04-06 | 南京航空航天大学 | Robot with multiple movement modes |
| CN203237312U (en) * | 2013-05-06 | 2013-10-16 | 中国科学技术大学 | Combination shape-shifting mobile robot with elastic feet and wheel-type movement mechanism combined |
| CN103661659A (en) * | 2013-12-05 | 2014-03-26 | 上海工程技术大学 | Jumping robot based on tripping energy-storing-releasing mechanism |
| CN104608837A (en) * | 2015-01-16 | 2015-05-13 | 燕山大学 | Wheel-leg composite type four-leg robot |
| CN105128973A (en) * | 2015-07-27 | 2015-12-09 | 徐金鹏 | Mars detection vehicle chassis |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH06198582A (en) * | 1992-11-05 | 1994-07-19 | Commiss Energ Atom | Walking robot foot |
| JPH09142346A (en) * | 1995-11-17 | 1997-06-03 | Toyota Motor Corp | Vehicle |
| JP4554140B2 (en) * | 2002-03-12 | 2010-09-29 | 独立行政法人科学技術振興機構 | Multi-legged walking robot |
| CN1994804A (en) * | 2006-12-21 | 2007-07-11 | 浙江大学 | Wheel, leg, bounce mechanism combined mobile robot |
| CN201784421U (en) * | 2010-07-30 | 2011-04-06 | 南京航空航天大学 | Robot with multiple movement modes |
| CN203237312U (en) * | 2013-05-06 | 2013-10-16 | 中国科学技术大学 | Combination shape-shifting mobile robot with elastic feet and wheel-type movement mechanism combined |
| CN103661659A (en) * | 2013-12-05 | 2014-03-26 | 上海工程技术大学 | Jumping robot based on tripping energy-storing-releasing mechanism |
| CN104608837A (en) * | 2015-01-16 | 2015-05-13 | 燕山大学 | Wheel-leg composite type four-leg robot |
| CN105128973A (en) * | 2015-07-27 | 2015-12-09 | 徐金鹏 | Mars detection vehicle chassis |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108297062A (en) * | 2018-02-06 | 2018-07-20 | 苏州功业肆点零智能科技有限公司 | A kind of intelligent robot with decrease of noise functions |
| CN109011627A (en) * | 2018-08-30 | 2018-12-18 | 北京成长体验文化发展有限公司 | Obstacle detouring toy car |
| CN110386193A (en) * | 2019-06-25 | 2019-10-29 | 北京大成高科机器人技术有限公司 | All-terrain vehicle chassis |
| CN113002244A (en) * | 2021-03-16 | 2021-06-22 | 重庆大学 | Deep space exploration bouncing robot |
| CN117125163A (en) * | 2023-10-24 | 2023-11-28 | 中北大学 | Jumping type mobile trolley robot |
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Effective date of registration: 20190617 Address after: 350000 Second Floor 2E-239 of Six Affiliated Buildings in Shuijian New Village, Jianhua Branch Lane, Gulou District, Fuzhou City, Fujian Province Applicant after: Fujian Shengyuan Information Technology Co., Ltd. Address before: 426100 Xichong, Shizitang, Qiyang County, Yongzhou City, Hunan Province Applicant before: Yang Ding |
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