CN105905178B - Multifunctional obstacle crossing robot - Google Patents
Multifunctional obstacle crossing robot Download PDFInfo
- Publication number
- CN105905178B CN105905178B CN201610297760.2A CN201610297760A CN105905178B CN 105905178 B CN105905178 B CN 105905178B CN 201610297760 A CN201610297760 A CN 201610297760A CN 105905178 B CN105905178 B CN 105905178B
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- China
- Prior art keywords
- planetary gear
- motor
- gear set
- vehicle frame
- drive
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Retarders (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multifunctional obstacle crossing robot which comprises a vehicle frame, a drive motor fixed to the vehicle frame and planet gear sets comprising the drive planet gear sets and the driven planet gear sets. The drive planet gear sets are symmetrically arranged on the two sides of the front end of the vehicle frame and driven by the drive motor. The driven planet gear sets are symmetrically installed on the two sides of the rear end of the vehicle frame and move along with the drive planet gear sets synchronously. Each drive planet gear set comprises an inner planet carrier, a sun gear, planet gears, a center chain wheel, multiple planet chain wheels, a chain and advancing wheels, and the power of the motor is transmitted to the advancing wheels. By the adoption of the obstacle crossing robot, the output torque of the drive motor can be intelligently adjusted according to different degrees of obstacle crossing resistance, so that smooth obstacle crossing of the obstacle crossing robot is guaranteed.
Description
Technical field
The present invention relates to a kind of barrier-surpassing robot.It is more particularly related to a kind of many work(of assembling planet circular system
Can barrier-surpassing robot.
Background technology
Science and technology constantly development in recent years, living standards of the people are increasingly improved, but the mankind are to special circumstances such as natural disasters
Investigation, rescue also there is a problem that it is a lot.The natural disasters such as earthquake because the feature such as sudden of itself be difficult to it is predicted,
Therefore strengthen Post disaster relief dynamics to be just particularly important.Land investigation, the spy with certain obstacle crossing function that presently, there are
The robot for surveying class generally adopts crawler haulage, but crawler haulage inefficiency, and power consumption is high.And the crawler type on small scale robot
Volumetric constraint is received in transmission, it is impossible to cross the barriers such as the road rank, the stair that are widely present in urban environment.So that crawler type scout
Device people there is limitations in the application of the fields such as anti-terrorism scouting, disaster assistance.So at present in the urgent need to a kind of Novel transmission
The small scale robot of mode so as to which there is certain obstacle climbing ability in urban environment, and with higher transmission efficiency, Yi Jiling
Mobility living.
The content of the invention
It is an object of the present invention to provide a kind of multifunctional obstacle-surmounting robot, is driven using motor-driven triangle planetary gear set and is gone
Enter, when obstacle is run into, travel wheel is switched to around the revolution of triangle planetary gear set, so as to smooth obstacle detouring by rotation.
A further object of the invention is that motor drives driving planetary gear set deflection by differential mechanism, so as to realize getting over
The front-wheel steer pattern of barrier robot.
A further object of the invention is to drive bowing steering unit, bowing steering unit to drive using steer motor
Driven planetary gear set deflection, so as to realize the rear-axle steering pattern of barrier-surpassing robot.
It is a still further object of the present invention to provide a kind of multifunctional obstacle-surmounting robot, by electron speed regulator obstacle detouring machine is adjusted
Speed of the device people during level land is advanced or climbs building obstacle detouring, is readily transported goods.
It is a still further object of the present invention to provide a kind of multifunctional obstacle-surmounting robot, control system is according to different more barriers
Torque adjusts the output torque of motor, barrier-surpassing robot obstacle detouring failure caused by solving planetary gear set because skidding or stalling.
In order to realize these purposes of the invention and further advantage, there is provided a kind of multifunctional obstacle-surmounting robot, bag
Include：
Vehicle frame；
Motor, it is fixed on vehicle frame；
Planetary gear set and driven planetary gear set, the driving planetary gear set is driven symmetrically to be laid in vehicle frame front end both sides, by
Motor drives；The driven planetary gear set is symmetrically mounted on vehicle frame rear end both sides；Wherein, the planetary gear set includes：
Expert's carrier, it includes at least two legs for stretching out, and sets towards on the side of the motor
Central gear and planetary gear are put, center sprocket wheel and multiple planet sprockets are set on another side；And
The central gear, it passes through, and first axle is rotatable to be fixed in expert's carrier, and the motor output shaft connects
Connect the central gear；
The planetary gear, it passes through, and the second axle is rotatable to be fixed in expert's carrier, and with the sun tooth
Wheel engagement；
The center sprocket wheel, it is fixed on second axle, and the center sprocket wheel and the planetary gear rotate jointly；
The plurality of planet sprocket, it is rotatably arranged on correspondingly the outer end of the leg；
Chain, it is engaged simultaneously with the center sprocket wheel and the plurality of planet sprocket；
Travel wheel, it is coaxially fixed respectively with the plurality of planet sprocket, and is revolved jointly with the plurality of planet sprocket
Turn.
Preferably, the vehicle frame also includes steering, and it is connected to vehicle frame rear portion, including steer motor and bowing
Steering unit, the steer motor drives bowing steering unit to incline certain angle relative to vehicle frame, so as to realize turning to；Its
In, the driven planetary gear set is symmetrically mounted on steering both sides.
Preferably, the motor connected with differential, the differential mechanism exports two line shaft connecting vehicle frame both sides
Driving planetary gear set.
Preferably, the bowing steering unit includes：
Guide rail, it is secured transverse on vehicle frame；
Slide block, it is set on guide rail and can be along slide；
Steering rack, it is engaged with steer motor, and is fixedly connected slide block, and the steering rack drives in steer motor
Lower band movable slider is moved along guide rail；
Linkage, including vertical pole, the first cross bar and the second cross bar, vertical pole front end is rotatably connected slide block, vertical pole rear end
The central point of the first cross bar and the second cross bar is respectively hinged at, the first cross bar and the second cross bar be arranged in parallel and its two ends is relatively switched through
To arm；
The front end of the steering arm is hinged on vehicle frame rear end；
Wherein, when vertical pole front end drives the movement of lower edge guide rail in slide block, it drives the first cross bar and the second cross bar laterally to move
It is dynamic, so as to drive steering arm to incline certain angle with vehicle frame, realize that driven planetary gear set is turned to.
Preferably, the vehicle frame also includes object stage, and it is fixed on vehicle frame, for bearing article.
Preferably, also including control system, it includes：
Torque sensor, it is arranged in driving motor output shaft, and the torque sensor measures the moment of torsion of motor；
Speed probe, it is separately mounted on two line shafts of differential mechanism, for two line shafts of detection
Rotating speed；
Signal receiver/transmitter, its connection torque sensor and speed probe, the signal receiver/transmitter is received to be turned round
The signal of square sensor and speed probe；
Controller, its connection signal receiver/transmitter, motor and steer motor, the controller receives signal and receives
The signal of transmitter simultaneously controls steer motor and motor；And
Electron speed regulator, its connection controller, the electron speed regulator adjusts the gait of march for driving planetary gear set.
Preferably, the motor is servomotor, and controller receives torque sensing by signal receiver/transmitter
The signal of device, and control the output torque of motor.
Preferably, the electron speed regulator connects the power supply of motor, and it is adjusted by regulation power supply and drives planet
The gait of march of wheel group.
Preferably, the driving planetary gear set runs into obstacle travel wheel and during the skidding of ground, is guarantee driving planetary gear
Group revolution obstacle detouring, the real-time torque T ' satisfaction of controller controlled motor：
Wherein, θ is angle between road wheel, and to drive planetary gear set gear ratio, η is the machinery effect for driving planetary gear set to k
Rate；M is the quality for driving planetary gear set, and f is the coefficient of kinetic friction of travel wheel and ground, and R is the radius of turn of planet circular system.
Preferably, the driving planetary gear set runs into obstacle and to take turns and do not have relative motion with ground, is to drive planetary gear
Group revolution obstacle detouring, the real-time torque T ' satisfaction of controller controlled motor；
Wherein, θ is angle between road wheel, and to drive planetary gear set gear ratio, η is the machinery effect for driving planetary gear set to k
Rate；M is the quality for driving planetary gear set, and f is the coefficient of kinetic friction of travel wheel and ground, and R is the radius of turn of planet circular system.
The present invention at least includes following beneficial effect：1st, thereon object stage can be installed or carry various detecting devices, just
In investigation；2nd, power-assisted goods can be delivered under the state of level land, it is also possible to the power-assisted delivery goods in stair climbing；3rd, obstacle detouring machine
People is turned to using differential mechanism, driven planetary gear set using bowing steering unit coordinate turn to, it is adaptable to it is narrow or to turn
Curved region.4th, make operation workflow simple by the way of gear drive and Chain conveyer are combined, easy to operate, performance is improved, and is extended
Service life；5th, torque sensor is installed, and measurement motor output torque value is transmitted to controller, controller is not according to sympathizing with
Condition calculates obstacle detouring moment of torsion, and regulation motor output torque is higher than obstacle detouring moment of torsion, it is ensured that the smooth obstacle detouring of barrier getting over mechanism, while reducing electricity
The output of machine, less energy consumption.
The further advantage of the present invention, target and feature embody part by description below, and part will also be by this
The research of invention and practice and be understood by the person skilled in the art.
Description of the drawings
Fig. 1 is the structure chart of the barrier-surpassing robot of the present invention.
Fig. 2 is the advance system and the connection figure of steering of the barrier-surpassing robot of the present invention.
Fig. 3 is that the barrier-surpassing robot of the present invention turns to schematic diagram.
Fig. 4 is the planetary gear set structure chart of the barrier-surpassing robot of the present invention.
Fig. 5 is the planetary gear set structure chart of the barrier-surpassing robot of the present invention.
Fig. 6 is the planetary gear set structure chart of the barrier-surpassing robot of the present invention.
Fig. 7 is the control system schematic diagram of the barrier-surpassing robot of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in further detail, to make those skilled in the art with reference to description text
Word can be implemented according to this.
It should be appreciated that it is used herein such as " have ", "comprising" and " including " term do not allot one or many
The presence or addition of individual other elements or its combination.
Fig. 1-3 shows a kind of way of realization of the invention, multifunctional power-assisted barrier-surpassing robot include vehicle frame 100,
Advance system 200, steering 300 and control system, vehicle frame 100 is used to carry detecting devices, the advance system 200, turns
To system 300 and control system connecting vehicle frame 100, advance system 200 drive vehicle frame 100 level land advance or run into obstacle,
Obstacle detouring during stair, steering 300 coordinates advance system 200 and control system control to be turned to.
As shown in Fig. 2 vehicle frame 100 includes car body 110 and object stage 120, car body 110 is identical by two pieces and is parallel to each other not
The stringer board of rust steel matter and two ends are fixed on many cross bars composition on stringer board, and the car body 110 is used to supporting and connecting traveling
System 200 and steering 300, object stage 120 is fixed on above car body 110, and it is corrosion resistant plate, is set for carrying detection
It is standby.
Advance system 200 includes motor 210, drives planetary gear set, driven planetary gear set and differential mechanism 250, wherein,
Drive planetary gear set by driving planet circular system 230 and travel wheel 220 to constitute, driven planetary gear set is by the He of driven planet circular system 240
Travel wheel 220 is constituted.Motor 210 is fixed on the cross bar of car body 110, and it is adjusting torque formula motor, motor 210
Torque sensor is installed, it is common sensor, is not shown on output shaft.The torque sensor measurement is adopted should
Become piece electric detecting technology, foil gauge composition measuring bridge is pasted thereon, after output shaft is produced micro-strain by moment of torsion electric bridge is caused
Resistance change, the change transitions of strain bridge resistance into the signal of telecommunication change so as to realize torque measurement, so as to realize measurement
The moment of torsion of motor.The output shaft of motor 210 engages differential mechanism 250 by helical gear, and the two ends of the differential mechanism 250 export respectively
First line shaft 251 and the second line shaft 252, wherein, it is respectively mounted rotating speed on the first line shaft 251 and the second line shaft 252
Sensor, speed probe connection signal receiver/transmitter, the rotating speed of the first line shaft 251 and the second line shaft 252 is transmitted
To signal receiver/transmitter；Planetary gear set is driven to be symmetrically mounted on the anterior arranged on left and right sides of vehicle frame 100, first line shaft 251
The driving planet circular system 230 in the left side of connecting vehicle frame 100, the driving planet circular system on the right side of 252 connecting vehicle frame of the second line shaft 100
230；The driving planet circular system 230 and driven planet circular system 240 are same mechanical component, only to driving planetary gear in description
It is that 230 structures are illustrated, from Fig. 4-6, driving planet circular system 230 is gear, it includes central gear 231, OK
Star gear 232, planetary gear cover plate 233, expert's carrier 234, layman's carrier 235, center sprocket wheel 236, planet sprocket 237, chain
Bar 238 and traveling wheel shaft 239.Central gear 231 is provided with central through hole, its excircle and is laid with teeth, wherein, central through hole
With the size of the first line shaft 251 and the second line shaft 252 to matching, for connecting the first line shaft 251 or the second line shaft
252, central gear 231 is rotatably connected in the center of expert's carrier 234.Planetary gear 232 is rotatably connected by central shaft
In expert's carrier 234, on its excircle teeth are laid.Wherein, the central gear 231 and planetary gear 232 pass through planet
Gear cover plate 233 is fixed on the homonymy in expert's carrier 234, is further, and three planetary gears 232 angularly lay car etc.
Side triangle, and engage with central gear 231, drive three planetary gears 232 to rotate by central gear 231.Center sprocket wheel 236
With the concentric setting of planetary gear 232, and the both sides of expert's carrier 234 are fixed on by same central shaft, planetary gear 232
The synchronous axial system of rotational band disorder of internal organs heart sprocket wheel 236.As seen from Figure 5, center sprocket wheel 236, chain 238 and planet sprocket 237 are laid in
The same side of expert's carrier 234, is further to be arranged on expert's carrier 234 with central gear 231 and planetary gear 232
Opposite side, wherein, three planet sprockets 237 are connected on three angles of expert's carrier 234 by traveling wheel shaft 239, chain
238 engage respectively at center sprocket wheel 236 and planet sprocket 237, i.e., center sprocket wheel 236 drives planet sprocket 237 by chain 238
Rotate, so as to drive the traveling wheel shaft 239 being fixedly connected with planet sprocket 237 to rotate.As seen from Figure 5, traveling wheel shaft 239 is arranged
In the expert's carrier 234 and layman's carrier 235 be arrangeding in parallel, expert's carrier 234 is identical with the structure of layman's carrier 235, is not
Regular triangle structure, wherein, traveling wheel shaft 239 connects travel wheel 220, three travel wheels at the expenditure end of outer planet carrier 235
220 drive planet circular system 230 by the connection of traveling wheel shaft 239.
When barrier-surpassing robot is turned, motor 210 drives first line shaft of the adjustment of differential mechanism 250 251 and second dynamic
Speed difference between power axle 252, the first line shaft 251 and the second line shaft 252 transmit speed difference to the driving of the left and right sides
Planetary gear set homonymy is deflected, and now, driven planetary gear set is not deflected, so as to realize the front-wheel steer pattern of barrier-surpassing robot.
As shown in Figures 2 and 3, steering 300 includes steer motor 310, steering rack 320, guide rail 330, linkage
340 and steering arm 350, steer motor 310 is fixed on the cross bar of car body 110, its output shaft engagement steering rack 320, so as to
Steering rack 320 is driven to move；The upper surface of steering rack 320 lays tooth bar, and the center of its lower surface is fixed on slide block 331
On；Parallel to cross bar, its two ends is fixed on car body 110 guide rail 330, and slide block 331 is arranged thereon, and the lower surface of slide block 331 is opened up
Chute, the upper surface of vertical pole 341 is provided with boss, and the boss connection chute simultaneously can be along guide rail along slide, slide block 331
330 slide, and now, steer motor 310 drives the transverse shifting of steering rack 320, so as to band movable slider 331 is horizontal along guide rail 330
It is mobile.Linkage 340 includes vertical pole 341, the first cross bar 342 and the second cross bar 343, and the front end of vertical pole 341 is hinged slide block 331,
Vertical pole 341 is driven to move when slide block 331 is moved；The two-end-point of first cross bar 342 and the front end of steering arm 350, the stringer board of car body 110
End is connected through the hinge, and its centerline is hinged with vertical pole 341；The two-end-point of second cross bar 343 is hinged on the middle part of steering arm 350,
The end of the point articulated vertical pole 341 in its center；Steering arm 350 is symmetrically hinged on the end of vehicle frame 100, and driven planetary gear is connected thereon
Group.
Barrier-surpassing robot rear-axle steering pattern is illustrated in figure 3, steer motor 310 is opened, it drives the edge of steering rack 320
The transverse shifting of guide rail 330, so as to drive the vertical pole 341 being hinged with slide block 331 to move and incline certain angle, vertical pole 341 drives
First cross bar 342 and the second cross bar 343 are traversing, so that the steering arm 350 being hinged with the first cross bar 342 and the second cross bar 343
Incline, its angle of inclination is identical with vertical pole 341, so as to drive driven planetary gear set to be angularly offset with vehicle frame 100, realization from
Dynamic planetary gear set homonymy deflection, now drives planetary gear set not deflect, so as to realize barrier-surpassing robot rear-axle steering pattern.
As shown in fig. 7, control system connects including controller, electron speed regulator, speed probe, torque sensor and signal
Receiver/transmitter, control system is arranged on the middle part of vehicle frame 100, and the controller connects motor 210, electron speed regulator, electronics
Speed regulator has the effect of converter, changes motor working power frequency to control the rotating speed of motor by controller, from
And control the speed of barrier-surpassing robot.The controller is also connected with speed probe, signal receiver/transmitter and steer motor
310, signal receiver/transmitter receives the tach signal of the first line shaft 251 and the second line shaft 252, and transmits a signal to control
Device processed, controller compares the rotating speed of the first line shaft 251 and the second line shaft 252, when controller judges the He of the first line shaft 251
The rotating speed of second line shaft 252 is different, and controller control steer motor 310 is opened, and steer motor drives driven planetary gear set to turn to.
The torque sensor connects signal receiver/transmitter, and torque sensor transmits the output torque value of motor 210 to letter
Number receiver/transmitter, signal receiver/transmitter transmits torque signal to controller, and controller is received, storage torque sensor is surveyed
The torque of the motor 210 of amount, controller according to circumstances adjusts the moment of torsion of motor 240, realizes that barrier-surpassing robot is smooth
Obstacle detouring.
When barrier-surpassing robot is in level walking, surface resistance square is less than driving planetary gear set from torque, motor
210 drive to central gear 231 by differential mechanism 250, and central gear 231 drives planetary gear 232 to rotate, center sprocket wheel 236
With the synchronous axial system of planetary gear 232, center sprocket wheel 236 drives planet sprocket 237 to rotate by chain 238, so that travel wheel
220 rotations, so as to drive barrier-surpassing robot to advance.When barrier-surpassing robot runs into barrier or stair climbing, running resistance square wink
Between increase to more than drive planetary gear set from torque, motor 210 drives to central gear 231 by differential mechanism 250, but
Resistance stagnates planetary gear 232, and central gear 231 drives expert's carrier 234 to rotate, so as to realize driving planetary gear set public
Turn, drive planetary gear set to drive the smooth obstacle detouring of barrier-surpassing robot.But barrier-surpassing robot is in obstacle detouring, and there will be two kinds of situations：One
It is that travel wheel 220 is skidded with ground at barrier；Two is that travel wheel 220 does not have relative motion with ground at barrier, i.e.,
Stop operating, the condition of barrier-surpassing robot obstacle detouring in the case of two kinds is discussed separately below.
When obstacle travel wheel 220 is run into ground skidding, controller measures barrier-surpassing robot reality by torque sensor
When torque T ', controller according to formula (1) calculate obstacle detouring need moment of torsion be T1, the real-time torque T ' of controller controlled motor>
T1, the planet circular system 230 in barrier-surpassing robot revolves round the sun so as to obstacle detouring：
Wherein, λ is the first factor of influence, reflects the shadow of angle, θ, gear ratio k, mechanical efficiency η and radius R to obstacle detouring moment of torsion
Ring, its computing formula (2) is：
Wherein, λ be the first factor of influence, zero dimension；θ is angle between three road wheels for constituting equilateral triangle, single
Position is degree；K is planet gear transmission ratio, and η is the mechanical efficiency of barrier-surpassing robot；M is the quality of barrier-surpassing robot, and unit is g；f
Outside the equilateral triangle formed for three road wheels of barrier-surpassing robot for barrier-surpassing robot and the coefficient of kinetic friction on ground, R
The radius of the circle of contact, unit is rice.
When obstacle travel wheel 220 is run into and ground does not have relative motion, i.e. 220 stop motion of travel wheel, controller root
The moment of torsion that calculating obstacle detouring according to formula (3) needs is T2, the real-time torque T ' of controller controlled motor>T2, the row in barrier-surpassing robot
Star wheel series 230 are so as to obstacle detouring；
Wherein, λ is the first factor of influence, reflects the shadow of angle, θ, gear ratio k, mechanical efficiency η and radius R to obstacle detouring moment of torsion
Ring, its computing formula (4) is：
Wherein, λ be the first factor of influence, zero dimension；θ is angle between three road wheels for constituting equilateral triangle, single
Position is degree；K is planet gear transmission ratio, and η is the mechanical efficiency of barrier-surpassing robot；M is the quality of barrier-surpassing robot, and unit is g；f
Outside the equilateral triangle formed for three road wheels of barrier-surpassing robot for barrier-surpassing robot and the coefficient of kinetic friction on ground, R
The radius of the circle of contact, unit is rice.
Although embodiment of the present invention is disclosed as above, it is not restricted to listed in description and embodiment
With.It can be applied to completely various suitable the field of the invention.For those skilled in the art, can be easily
Realize other modification.Therefore under the general concept limited without departing substantially from claim and equivalency range, the present invention is not limited
In specific details and shown here as the legend with description.
Claims (8)
1. a kind of multifunctional obstacle-surmounting robot, it is characterised in that include：
Vehicle frame；
Motor, it is fixed on vehicle frame；
Planetary gear set and driven planetary gear set, the driving planetary gear set is driven symmetrically to be laid in vehicle frame front end both sides, by driving
Motor drive；The driven planetary gear set is symmetrically mounted on vehicle frame rear end both sides；Wherein, the planetary gear set includes：
Expert's carrier, it includes at least two legs for stretching out, and arranges too towards on the side of the motor
Positive gear and planetary gear, arrange center sprocket wheel and multiple planet sprockets on another side；And
The central gear, it passes through, and first axle is rotatable to be fixed in expert's carrier, and the motor output shaft connects institute
State central gear；
The planetary gear, it passes through, and the second axle is rotatable to be fixed in expert's carrier, and is nibbled with the central gear
Close；
The center sprocket wheel, it is fixed on second axle, and the center sprocket wheel and the planetary gear rotate jointly；
The plurality of planet sprocket, it is rotatably arranged on correspondingly the outer end of the leg；
Chain, it is engaged simultaneously with the center sprocket wheel and the plurality of planet sprocket；
Travel wheel, it is coaxially fixed respectively with the plurality of planet sprocket, and is rotated jointly with the plurality of planet sprocket；
The vehicle frame also includes steering, and it is connected to vehicle frame rear portion, including steer motor and bowing steering unit, described
Steer motor drives bowing steering unit to incline certain angle relative to vehicle frame, so as to realize turning to；Wherein, the driven row
Star-wheel group is symmetrically mounted on steering both sides；The bowing steering unit includes：
Guide rail, it is secured transverse on vehicle frame；
Slide block, it is set on guide rail and can be along slide；
Steering rack, it is engaged with steer motor, and is fixedly connected slide block, and the steering rack drives lower band in steer motor
Movable slider is moved along guide rail；
Linkage, including vertical pole, the first cross bar and the second cross bar, vertical pole front end is rotatably connected slide block, vertical pole rear end difference
The central point of the first cross bar and the second cross bar is hinged on, the first cross bar and the second cross bar be arranged in parallel and its two ends articulation steering
Arm；
The front end of the steering arm is hinged on vehicle frame rear end；
Wherein, when vertical pole front end drives the movement of lower edge guide rail in slide block, it drives the first cross bar and the second cross bar transverse shifting, from
And drive steering arm to incline certain angle with vehicle frame, realize that driven planetary gear set is turned to.
2. multifunctional obstacle-surmounting robot as claimed in claim 1, it is characterised in that the motor connected with differential, institute
State the driving planetary gear set that differential mechanism exports two line shaft connecting vehicle frame both sides.
3. multifunctional obstacle-surmounting robot as claimed in claim 1 or 2, it is characterised in that the vehicle frame also includes object stage, its
It is fixed on vehicle frame, for bearing article.
4. multifunctional obstacle-surmounting robot as claimed in claim 2, it is characterised in that also including control system, it includes：
Torque sensor, it is arranged in driving motor output shaft, and the torque sensor measures the moment of torsion of motor；
Speed probe, it is separately mounted on described two line shafts of differential mechanism, for detecting the rotating speed of two line shafts；
Signal receiver/transmitter, its connection torque sensor and speed probe, the signal receiver/transmitter receives moment of torsion and passes
The signal of sensor and speed probe；
Controller, its connection signal receiver/transmitter, motor and steer motor, the controller receives signal and receives transmitting
The signal of machine simultaneously controls steer motor and motor；And
Electron speed regulator, its connection controller, the electron speed regulator adjusts the gait of march for driving planetary gear set.
5. multifunctional obstacle-surmounting robot as claimed in claim 4, it is characterised in that the motor is servomotor, control
Device processed receives the signal of torque sensor by signal receiver/transmitter, and controls the output torque of motor.
6. multifunctional obstacle-surmounting robot as claimed in claim 5, it is characterised in that the electron speed regulator connects motor
Power supply, its by regulation power supply adjust drive planetary gear set gait of march.
7. multifunctional obstacle-surmounting robot as claimed in claim 6, it is characterised in that the driving planetary gear set runs into obstacle row
It is to ensure to drive planetary gear set revolution obstacle detouring, the real-time torque T ' satisfaction of controller controlled motor when entering wheel and ground skidding：
Wherein, θ is angle between road wheel, and to drive planetary gear set gear ratio, η is the mechanical efficiency for driving planetary gear set to k；m
To drive the quality of planetary gear set, f is the coefficient of kinetic friction of travel wheel and ground, and R is the radius of turn of planet circular system.
8. multifunctional obstacle-surmounting robot as claimed in claim 6, it is characterised in that the driving planetary gear set run into obstacle and
Wheel does not have relative motion with ground, is to drive planetary gear set revolution obstacle detouring, the real-time torque T ' satisfaction of controller controlled motor；
Wherein, θ is angle between road wheel, and to drive planetary gear set gear ratio, η is the mechanical efficiency for driving planetary gear set to k；m
To drive the quality of planetary gear set, f is the coefficient of kinetic friction of travel wheel and ground, and R is the radius of turn of planet circular system.
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| CN106741297B (en) * | 2016-12-31 | 2019-07-30 | 河南城建学院 | It is a kind of to turn to flexible forerunner's intelligent carriage |
| CN106892014B (en) * | 2017-02-22 | 2019-08-13 | 华中科技大学 | A kind of planet gear type barrier-surpassing robot suitable for rotating ladder |
| CN107298136B (en) * | 2017-06-23 | 2023-05-12 | 昆明理工大学 | Caterpillar band driving device |
| CN108583727A (en) * | 2018-05-23 | 2018-09-28 | 江苏集萃智能制造技术研究所有限公司 | A kind of full landform rescue Disaster Relief Robot |
| CN109397982B (en) * | 2018-12-08 | 2023-09-22 | 新乡北方车辆仪表有限公司 | Multifunctional turning wheel based on combined gear train |
| CN109782768A (en) * | 2019-01-26 | 2019-05-21 | 哈尔滨玄智科技有限公司 | A kind of autonomous navigation system adapting to expert's planetary compound gear train transfer robot |
| CN109940629A (en) * | 2019-03-05 | 2019-06-28 | 国网辽宁省电力有限公司信息通信分公司 | A kind of trackless obstacle detouring intelligent inspection robot |
| CN110200556B (en) * | 2019-05-28 | 2022-04-19 | 广州科语机器人有限公司 | Obstacle-crossing driving wheel and mobile equipment |
| CN110434826B (en) * | 2019-08-12 | 2022-06-14 | 东北大学 | Under-actuated stair climbing robot based on differential mechanism and inverted pendulum |
| CN110606136B (en) * | 2019-10-22 | 2023-12-29 | 吉林大学 | Logistics robot with omnidirectional movement and obstacle surmounting capability and control method thereof |
| CN111504691B (en) * | 2020-05-10 | 2023-03-10 | 淮阴师范学院 | Portable geographic information acquisition device |
| CN112298393B (en) * | 2020-11-03 | 2021-11-26 | 无锡子可科技有限公司 | Intelligent robot for security patrol |
| CN113815701A (en) * | 2021-10-13 | 2021-12-21 | 浙江精功机器人智能装备有限公司 | Stair climbing trolley |
| CN114278809B (en) * | 2021-12-30 | 2023-09-01 | 杭州电子科技大学 | Pipeline detection robot capable of avoiding obstacle |
| CN115503023B (en) * | 2022-11-23 | 2023-05-23 | 济南奥普瑞思智能装备有限公司 | Industrial robot removes chassis |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2002264856A (en) * | 2001-03-14 | 2002-09-18 | Japan Science & Technology Corp | Stair climbing/descending device |
| KR101031321B1 (en) * | 2006-06-27 | 2011-04-29 | 김기수 | Driving system |
| CN202345805U (en) * | 2011-12-06 | 2012-07-25 | 华中农业大学 | Star and planet wheel type dual-purpose carrier capable of being used on stairs and ground |
| CN103587566A (en) * | 2013-08-02 | 2014-02-19 | 李军委 | Planetary multi-wheel carrier |
| CN103407510A (en) * | 2013-08-21 | 2013-11-27 | 上海工程技术大学 | Deformable planet wheel robot with left body and right body hinged |
| CN104890752B (en) * | 2015-06-15 | 2017-03-08 | 华中科技大学 | A kind of planet gear type barrier-surpassing robot |
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