CN106741263A - Four crawler belt self adaptation road conditions gravity-center adjustable mechanisms - Google Patents
Four crawler belt self adaptation road conditions gravity-center adjustable mechanisms Download PDFInfo
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- CN106741263A CN106741263A CN201611202197.2A CN201611202197A CN106741263A CN 106741263 A CN106741263 A CN 106741263A CN 201611202197 A CN201611202197 A CN 201611202197A CN 106741263 A CN106741263 A CN 106741263A
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- Prior art keywords
- crawler belt
- pneumatic cylinder
- connecting rod
- road conditions
- linking arm
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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
-
- 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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of four crawler belts self adaptation road conditions gravity-center adjustable mechanism, four pedipulators are symmetrically arranged with below main body module, each pedipulator includes the connecting rod one that the piston of the crawler belt foot that the linking arm that is hinged with main body module and linking arm lower end be hinged, the pneumatic cylinder one being arranged on main body module and pneumatic cylinder one be connected, set pneumatic cylinder two on the connecting arm and connecting rod two that the piston of pneumatic cylinder two is connected, the end of connecting rod one is connected with linking arm, and the end of connecting rod two connects with the preceding track wheel shaft of corresponding crawler belt foot.The present invention is applied to that environment is changeable, the complicated place of road conditions, and can the rotation of active control both sides crawler belt adjust robot pose change, auxiliary climbing, obstacle detouring and across ditch can use the investigation and search and rescue of the bad environments such as modern battlefield or earthquake.
Description
Technical field
The present invention relates to a kind of four crawler belts self adaptation road conditions gravity-center adjustable mechanism.
Background technology
In terms of Portable crawler robot research, the U.S. marches at the forefront of the world, it have it is independent it is experimental nobody
Fighter robot plan, the need for adding anti-terrorism in recent years and military operations in urban terrain, small intelligent caterpillar robot development work is subject to
Military great attention.The U.S. has put into substantial amounts of man power and material, particularly new, height in terms of micro robot development
Motor-driven, high reliability mobile vehicle research aspect.Such as portable robot system in the works of Tactical Mobile robot of the U.S. (TMR)
System (MPRS).Such robot is mainly used in combat in towns and searches and rescues.
The country is concentrated mainly on the non-combat system field such as police, civilian for Portable crawler robot research.Nearly ten
China is rich to the type robot research achievement for economic development needs for many years.
The microminiature QH-1 type caterpillar type robot masters of Jing Yixi robots of Tsing-Hua University and its automated laboratory design
Be used to realizing track and motion target tracking, the analysis of visual information and treatment, the computer understanding of ground trace image with
Treatment.The composite mobile robot that Chinese Academy of Sciences's Shenyang Institute of Automation is developed-" clear-B of spirit " type explosive-removal robot enters is on active service
Phase.
Design structure of the present invention is novel, it is innovative carry, shock resistance intelligence crawler belt locomotivity.Can use
Modularized design, maintenance easy to disassemble, can with segmented adaptive complex road surface, and can the rotation of active control both sides crawler belts adjust
Section robot pose change, aids in climbing, obstacle detouring and across ditch；Robot is good by having after rational topology layout and design
Adaptive capacity to environment, maneuverability and the fall impacting of certain altitude can be resisted.
The content of the invention
The invention aims to provide a kind of four crawler belts self adaptation road conditions gravity-center adjustable mechanism, it is adaptable to which road conditions are multiple
Miscellaneous, changeable environment.
The object of the present invention is achieved like this：Four pedipulators are symmetrically arranged with below main body module, each machinery
Leg includes the linking arm being hinged with main body module and linking arm lower end the crawler belt foot being hinged, the air pressure being arranged on main body module
The connecting rod one of the piston connection of cylinder one and pneumatic cylinder one, the piston that pneumatic cylinder two on the connecting arm and pneumatic cylinder two are set
The connecting rod two of connection, the end of connecting rod one is connected with linking arm, the end of the connecting rod two preceding shoe sufficient with corresponding crawler belt
Belt shaft is connected.
Present invention additionally comprises such some architectural features：
1. crawler belt described in is enough rear-guard.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention is changeable suitable for environment, the complicated field of road conditions
Institute, and can the rotation of active control both sides crawler belt adjust robot pose change, auxiliary climbing, obstacle detouring and across ditch can be used
The investigation and search and rescue of the bad environments such as modern battlefield or earthquake.4 linking arms of the invention are controlled by four pneumatic cylinders one respectively
System, can individually change any one attitude of linking arm, robot smoothly can be passed through the less barrier of width.
Brief description of the drawings
Fig. 1 is overall structure figure of the invention；
Fig. 2 is obstacle detouring foot deformities figure of the invention；
Fig. 3 is able of going upstairs deformation pattern of the invention；
Fig. 4 is change center of gravity figure of the invention；
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
With reference to Fig. 1, four crawler belts self adaptation road conditions gravity-center adjustable robot of the invention by main body module 1, pneumatic cylinder 1,
Connecting rod one 3, crawler belt foot 4, linking arm 5, pneumatic cylinder 26, connecting rod 27, Athey wheel 8 are constituted, and the robot use can be used
Modularized design, can dismount rapidly, be adapted to individual soldier and carry and safeguarded, with good mobility, obstacle detouring, across ditch, climb
Climb aspect have a clear superiority, survival ability is strong, adapt to water, land environment the features such as.Robot loads supervision equipment, manipulator
The devices such as arm, light weapons, can be dual-use.
With reference to Fig. 1, four crawler belt self adaptation road conditions gravity-center adjustable robots serve as walking foot using four crawler belts, can make machine
Device people is driven by four motors respectively in complicated severe road conditions walking, four crawler belts, and crawler belt uses rear-guard form, active motor
Driving wheel motion is driven, crawler belt is rotated, when the speed of four crawler belts is identical, robot realizes movement of advancing or retreat；When
When four speed of crawler belt are different, robot realizes divertical motion, and due to being turned to using four caterpillar differentials, steering capability is strong, moves
Power is big, and load capacity is stronger than general robot.
Main body mould of the invention is supported by four identical pedipulators, and four crawler belt foots are driven by four motors respectively, with
Just robot obtains enough power, and crawler belt uses rear-guard pattern enough.Main body module 1 is connected by rotating pair with linking arm 5, even
Connecing arm can be rotated around main body module, and four identical pneumatic cylinders 1, four identical connecting rods are fixed on main body module 1
One 3 connection pneumatic cylinder 1 and linking arms 5, pneumatic cylinder 1 is controlled the rotation of linking arm 5 by connecting rod 1, changes robot
Attitude, adjust robot center of gravity, be conducive to robot by different road conditions.Linking arm 5 is secondary by rotating with crawler belt foot 4
Connection, crawler belt can be rotated completely with around linking arm, and a pneumatic cylinder 26, the connection gas of connecting rod 27 are equipped with each linking arm
Cylinder pressure 26 and Athey wheel 8, pneumatic cylinder 26 can control crawler belt foot 4 by connecting rod 27, be allowed to the horizontal an oblique angle,
To pass through barrier, the obstacle climbing ability of robot is greatly improved, namely pneumatic cylinder 26 is used to control the rotation of crawler belt foot 4
Turn, so that when barrier is run into, crawler belt foot energy adjustment angle passes through barrier.
Four legs (linking arm 5 and crawler belt foot 4) of robot are connected to one with the main body module 1 of robot by rotating pair
Rise, machine leg can freely be rotated around main body module, and pneumatic cylinder 1 can control linking arm 5 to rotate, governor motion center of gravity.
Crawler belt foot 4 is connected with linking arm 5 by rotating pair, and crawler belt foot 4 can be rotated freely around linking arm 5, pneumatic cylinder
The rotation of 26 control crawler belt foots 4, realizes obstacle detouring.
The present invention will be described in detail below in conjunction with the accompanying drawings：
With reference to Fig. 1, the control mould of robot is installed in four crawler belt self adaptation road conditions gravity-center adjustable robot body modules 1
Block, monitoring module and communication circuit module.Control module controls motor, pneumatic cylinder 1 and the pneumatic cylinder two of robot
6, monitoring module monitors and collects real-time road condition information, feeds back to control module.
With reference to Fig. 1, pneumatic cylinder 1 is arranged on main body module 1, and the piston of pneumatic cylinder 1 passes through connecting rod 1 and is connected
Arm 5 is connected, and controls the motion of linking arm 5, and each pneumatic cylinder 1 controls a pedipulator respectively, and pneumatic cylinder is by control system
System control, system can in time adjust every position of mechanical arm, robot is passed through different sections according to road conditions；
Pneumatic cylinder 26 is arranged on linking arm 5, and the piston of pneumatic cylinder 26 is connected with connecting rod 4, the other end and the crawler belt foot of connecting rod
Connection, by control system control, system is by controlling the motion of piston, it is possible to control the rotation of crawler belt foot for pneumatic cylinder, and then
By the barrier of different height, pneumatic cylinder 26 can control to adjust the attitude of crawler belt.
With reference to Fig. 1,2, the linking arm 5 of four crawler belt self adaptation road conditions gravity-center adjustable robots is secondary using rotating with crawler belt foot 4
Connection, the control system of robot can control to provide the drive module pneumatic cylinder 26 of the rotation of crawler belt foot 4, for carrying out crawler belt
The pose adjustment of foot rotation, the monitoring mould of the collection of control module connection pneumatic cylinder drive module and external testing equipment data
Block, makes robot correctly adjust the attitude of crawler belt foot, breaks the barriers.
With reference to Fig. 1,3, the main body module 1 of four crawler belt self adaptation road conditions gravity-center adjustable robots is used with linking arm 5 and rotated
Pair connection, linking arm 5 by pneumatic cylinder 1 provide power realize rotate, with adjust robot center of gravity just, pneumatic cylinder 1 by
Control system is controlled, monitoring module collection information, feeds back to control system, and control module controls pneumatic cylinder according to feedback information
Motion, the centre of gravity adjustment of robot is realized, so that robot is by complicated severe road conditions.
With reference to Fig. 1,4, four crawler belt self adaptation road conditions gravity-center adjustable robots control pneumatic cylinder 1 to adjust by control module
The center of gravity of robot, lowers the center of gravity, it is to avoid robot turn on one's side, control module control pneumatic cylinder 7 make crawler belt foot 4 rotate, crawler belt with
Horizontal line is angled, increases the obstacle climbing ability of caterpillar robot, the attitude of center of gravity and the crawler belt foot by adjusting robot
Robot is set to pass through step.
It is an object of the invention to provide a kind of simple structure, road conditions complicated four track machines changeable suitable for environment
The design of people, use can use modularized design, can dismount rapidly, be adapted to individual soldier and carry and safeguarded, with good machine
Dynamic property, has a clear superiority in obstacle detouring, in terms of ditch, climbing, additionally, robot also have small volume, it is easy to carry, low into
The features such as sheet, good concealment, fast reaction, mobility high, survival ability is strong, adaptation water, land environment.Robot loading monitoring sets
The devices such as standby, mechanical arm, light weapons, can be dual-use.The great advantage of the robot be with good obstacle performance,
Environmental adaptability simultaneously possesses full landform handling capacity.
Claims (2)
1. four crawler belt self adaptation road conditions gravity-center adjustable mechanism, it is characterised in that：Four machines are symmetrically arranged with below main body module
Tool leg, each pedipulator includes that the crawler belt that the linking arm being hinged with main body module and linking arm lower end are hinged is sufficient, is arranged on main body
The connecting rod one of the piston connection of pneumatic cylinder one and pneumatic cylinder one in module, setting pneumatic cylinder two and gas on the connecting arm
The connecting rod two of the piston connection of cylinder pressure two, the end of connecting rod one is connected with linking arm, the end of connecting rod two with it is corresponding
The preceding track wheel shaft connection of crawler belt foot.
2. four crawler belts self adaptation road conditions gravity-center adjustable mechanism according to claim 1, it is characterised in that：The crawler belt is enough
Rear-guard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611202197.2A CN106741263A (en) | 2016-12-23 | 2016-12-23 | Four crawler belt self adaptation road conditions gravity-center adjustable mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611202197.2A CN106741263A (en) | 2016-12-23 | 2016-12-23 | Four crawler belt self adaptation road conditions gravity-center adjustable mechanisms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106741263A true CN106741263A (en) | 2017-05-31 |
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ID=58899820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611202197.2A Pending CN106741263A (en) | 2016-12-23 | 2016-12-23 | Four crawler belt self adaptation road conditions gravity-center adjustable mechanisms |
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| CN (1) | CN106741263A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554631A (en) * | 2017-10-13 | 2018-01-09 | 吉林大学 | A kind of leg for engineering machinery is carried out formula liftable and taken a step chassis and its control method |
| CN108454718A (en) * | 2018-05-24 | 2018-08-28 | 河北工业大学 | A kind of passive adaptive robot of crawler type |
| CN108890686A (en) * | 2018-07-09 | 2018-11-27 | 胡俊 | A kind of changeable gravity centre formula Caterpillar robot |
| CN110753656A (en) * | 2018-06-29 | 2020-02-04 | 宿正勇 | Afforestation assembly line |
| CN111003079A (en) * | 2019-12-31 | 2020-04-14 | 深圳市凌州科技有限公司 | Car chair vehicle |
| WO2021037176A1 (en) * | 2019-08-28 | 2021-03-04 | 太原科技大学 | Method for planning gait of ultra-large polar region scientific investigation vehicle having six crawler feet when crossing snowbank |
| CN112722099A (en) * | 2021-01-28 | 2021-04-30 | 燕山大学 | Wheel-track combined type mobile stair climbing robot |
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| CN201159363Y (en) * | 2007-12-29 | 2008-12-03 | 浙江工业大学 | Traveler of central air-conditioning pipe cleaning robot |
| WO2011009420A3 (en) * | 2009-07-24 | 2012-03-22 | Czech Technical University In Prague - Faculty Of Electrical Engineering | Robot for cleaning and inspection of conduits and its control unit |
| CN102627127A (en) * | 2011-12-08 | 2012-08-08 | 兰州理工大学 | Joint-track composite bionic robot |
| WO2015053689A1 (en) * | 2013-10-10 | 2015-04-16 | Komatsu Forest Ab | Arrangement for a terrain-going motor vehicle and a terrain-going motor vehicle equipped with such an arrangement |
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| CN205524566U (en) * | 2016-04-30 | 2016-08-31 | 温州瓯科科技有限公司 | Hydraulic drive four -footed bionic robot |
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| DE4102884A1 (en) * | 1991-01-31 | 1992-08-06 | Krupp Industrietech | Belt type grinding machine - has belt mounted on carriage which can be moved along straight or curved path |
| CN201159363Y (en) * | 2007-12-29 | 2008-12-03 | 浙江工业大学 | Traveler of central air-conditioning pipe cleaning robot |
| WO2011009420A3 (en) * | 2009-07-24 | 2012-03-22 | Czech Technical University In Prague - Faculty Of Electrical Engineering | Robot for cleaning and inspection of conduits and its control unit |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554631A (en) * | 2017-10-13 | 2018-01-09 | 吉林大学 | A kind of leg for engineering machinery is carried out formula liftable and taken a step chassis and its control method |
| CN108454718A (en) * | 2018-05-24 | 2018-08-28 | 河北工业大学 | A kind of passive adaptive robot of crawler type |
| CN110753656A (en) * | 2018-06-29 | 2020-02-04 | 宿正勇 | Afforestation assembly line |
| CN108890686A (en) * | 2018-07-09 | 2018-11-27 | 胡俊 | A kind of changeable gravity centre formula Caterpillar robot |
| CN108890686B (en) * | 2018-07-09 | 2021-03-09 | 白捷东 | Caterpillar robot with variable gravity center |
| WO2021037176A1 (en) * | 2019-08-28 | 2021-03-04 | 太原科技大学 | Method for planning gait of ultra-large polar region scientific investigation vehicle having six crawler feet when crossing snowbank |
| CN111003079A (en) * | 2019-12-31 | 2020-04-14 | 深圳市凌州科技有限公司 | Car chair vehicle |
| CN112722099A (en) * | 2021-01-28 | 2021-04-30 | 燕山大学 | Wheel-track combined type mobile stair climbing robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |
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| RJ01 | Rejection of invention patent application after publication |