CN109178140A - A kind of wheel type barrier-crossing robot - Google Patents
A kind of wheel type barrier-crossing robot Download PDFInfo
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- CN109178140A CN109178140A CN201811161638.8A CN201811161638A CN109178140A CN 109178140 A CN109178140 A CN 109178140A CN 201811161638 A CN201811161638 A CN 201811161638A CN 109178140 A CN109178140 A CN 109178140A
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- wheel
- stump
- branch pipe
- jump
- mounting rack
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- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 230000005540 biological transmission Effects 0.000 claims description 24
- 238000005259 measurement Methods 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 5
- 230000008450 motivation Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of wheel type barrier-crossing robots.The wheel type barrier-crossing robot includes: bracket, Stump-jump wheel, Stump-jump wheel mounting rack, obstacle detouring actuation, Stump-jump wheel steering driving mechanism, the first traveling wheel, the first walking rotation to driving mechanism, the second traveling wheel, the second traveling wheel steering driving mechanism and two ground drive mechanisms, bracket includes: the first branch pipe, the second branch pipe and third branch pipe, first branch pipe and the second branch pipe are oppositely disposed in the first plane, and one end of third branch pipe is mounted on the first branch pipe.Under the road conditions for having obstacle, gully or step, Stump-jump wheel mounting rack is rotated by shaft relative to bracket, Stump-jump wheel follows Stump-jump wheel mounting rack to rotate and clears the jumps, gully or more to step top surface, Stump-jump wheel rotation is driven by obstacle detouring actuation, with the first traveling wheel or the first traveling wheel and the second traveling wheel common rotation, wheel type barrier-crossing robot is set to surmount obstacles, gully and step.
Description
Technical field
The present invention relates to mobile robot field, in particular to a kind of wheel type barrier-crossing robot.
Background technique
Mobile robot is the automatic installations for executing work.Wheeled robot is currently most used mobile machine
People.
Existing wheeled robot because its low energy consumption and it is high-efficient can be used for multiple fields, existing wheeled robot includes
The multipair wheel being arranged side by side, all wheels contact ground simultaneously, still, existing when encountering barrier, gully or step
Wheeled robot be then difficult to clear the jumps, gully or step move on, which prevent the travelings of wheeled robot.
Summary of the invention
In order to solve problems in the prior art, the embodiment of the invention provides a kind of wheel type barrier-crossing robots.The technology
Scheme is as follows:
The present invention provides a kind of wheel type barrier-crossing robot, the wheel type barrier-crossing robot includes: bracket, Stump-jump wheel, gets over
Barrier wheel mounting rack, obstacle detouring actuation, Stump-jump wheel steering driving mechanism, the first traveling wheel, the first walking are rotated to driving machine
Structure, the second traveling wheel, the second traveling wheel steering driving mechanism and two ground drive mechanisms, the bracket include: first
Pipe, the second branch pipe and third branch pipe, first branch pipe and second branch pipe are oppositely disposed in the first plane, the third
One end of branch pipe is mounted on first branch pipe, and the other end of the third branch pipe is mounted on second branch pipe, described
First mounting rack is installed on the first branch pipe, the second mounting rack is installed on second branch pipe, the first walking rotation to
Driving mechanism is mounted on first mounting rack, and the second traveling wheel steering driving mechanism is mounted on second mounting rack
On,
First traveling wheel and second traveling wheel are may be rotatably mounted at respectively on two traveling wheel wheel shafts, Mei Gesuo
The both ends for stating traveling wheel wheel shaft are separately fixed on traveling wheel wheel fork, and the traveling wheel wheel fork is rotated with first walking respectively
To the transmission shaft of driving mechanism and the transmission axis connection of the second traveling wheel steering driving mechanism；
Described two ground drive mechanisms are separately mounted on first traveling wheel and second traveling wheel, described
Traction drive machine is configured to that first traveling wheel and second traveling wheel is driven to rotate；
Shaft is provided on second mounting rack, one end of the Stump-jump wheel mounting rack may be rotatably mounted at the shaft
On, the axis of the shaft is arranged vertically with first plane, and the Stump-jump wheel steering driving mechanism is fixed on the obstacle detouring
On the other end for taking turns mounting rack, and the length of the Stump-jump wheel mounting rack be greater than first branch pipe to second branch pipe away from
From；
The Stump-jump wheel may be rotatably mounted on Stump-jump wheel wheel shaft, and the both ends of the Stump-jump wheel wheel shaft are separately fixed at obstacle detouring
It takes turns on wheel fork, the transmission axis connection of the Stump-jump wheel wheel fork and the Stump-jump wheel steering driving mechanism；
The obstacle detouring actuation is mounted on the Stump-jump wheel, and the Stump-jump wheel driving machine is configured as described in driving
Stump-jump wheel rotation.
Specifically, the wheel type barrier-crossing robot further includes camera assembly, and the camera assembly includes rotating seat, telescopic rod
And camera, the rotating seat are mounted on first mounting rack or second mounting rack, one end of the telescopic rod can
It is rotatably installed on the rotating seat, the camera is mounted on the other end of the telescopic rod.
Specifically, the Stump-jump wheel steering mechanism includes: stepper motor, retarder, gear shaft and transmission gear, the step
It is separately fixed at into motor and the retarder on the other end of the Stump-jump wheel mounting rack, and the output shaft of the stepper motor
With the input axis connection of the retarder, the gear shaft is mounted on the output shaft of the retarder, and the transmission gear is same
Axis is mounted on the Stump-jump wheel wheel fork, and the gear shaft is engaged with the transmission gear.
Specifically, through-hole, two traveling wheels are offered respectively on first mounting rack and second mounting rack
Wheel fork is arranged in first branch pipe and second branch pipe, and is each passed through the corresponding through-hole and described first
The transmission axis connection of the transmission shaft of traveling wheel steering driving mechanism and the second traveling wheel steering driving mechanism.
Further, the Stump-jump wheel mounting rack includes the first Stump-jump wheel mounting rack and the second Stump-jump wheel mounting rack, described
The first end of first Stump-jump wheel mounting rack is connected with the first end of the second Stump-jump wheel mounting rack, and first Stump-jump wheel is pacified
It shelves and is equipped with angle between the second Stump-jump wheel mounting rack.
Specifically, the branch for being used to support the second end of the first Stump-jump wheel mounting rack is provided on first mounting rack
Support.
Specifically, it includes row that first walking, which is rotated to driving mechanism and the second traveling wheel steering driving mechanism,
Walk to take turns stepper motor and walking wheel decelerator, the traveling wheel stepper motor and the walking wheel decelerator are respectively corresponded and be fixed on
On first mounting rack and second mounting rack, and the output shaft of the traveling wheel stepper motor and the traveling wheel slow down
The output shaft of the input axis connection of device, the walking wheel decelerator is sequentially connected with the corresponding traveling wheel wheel fork respectively.
Specifically, the bracket further includes the 4th branch pipe and the 5th branch pipe, and one end of the 4th branch pipe is fixed on described
The other end of the junction of first branch pipe and the third branch pipe, the 4th branch pipe is fixed on the bottom of second branch pipe,
One end of 5th branch pipe is fixed on the junction of second branch pipe Yu the third branch pipe, the 5th branch pipe it is another
End is fixed on the bottom of first branch pipe.
Specifically, internal measurement sensor, institute are provided on the Stump-jump wheel wheel shaft and two traveling wheel wheel shafts
Stating internal measurement sensor includes: encoder, accelerometer and gyroscope.
Specifically, laser radar is provided on the bracket and the Stump-jump wheel mounting rack.
Technical solution provided in an embodiment of the present invention has the benefit that wheel type barrier-crossing provided in an embodiment of the present invention
Robot, under accessible or gully road conditions, the first traveling wheel and the second traveling wheel one in front and one in back single arrangement, and lead to respectively
Crossing two ground drive mechanisms drives the first traveling wheel and the second traveling wheel to rotate the front and back, it can be achieved that wheel type barrier-crossing robot
Mobile, under the road conditions for having obstacle, gully or step, Stump-jump wheel mounting rack is rotated by shaft relative to bracket, obstacle detouring
Wheel follow Stump-jump wheel mounting rack rotate and clear the jumps, gully or get over to step top surface, driven by obstacle detouring actuation
Stump-jump wheel rotation, with the first traveling wheel or the first traveling wheel and the second traveling wheel common rotation, enables wheel type barrier-crossing robot
It surmounts obstacles, gully and step, meanwhile, during obstacle detouring, when biggish inclination occurs for wheel type barrier-crossing robot, it can pass through
Stump-jump wheel steering mechanism drives the rotation of Stump-jump wheel wheel fork, and Stump-jump wheel is driven to deflect, and is rotated by the first walking to driving mechanism
Driving the first walking rotation is dynamic, and drives the deflection of the first traveling wheel, when the second traveling wheel also lands at that time, can also pass through the second row
It walks to take turns steering driving mechanism and drives the rotation of the second traveling wheel, and drive the deflection of the second traveling wheel, to realize wheel type barrier-crossing machine
Fast automatic time of the mass center of people is just.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the structural schematic diagram of wheel type barrier-crossing robot provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram that step is got over by wheel type barrier-crossing robot provided in an embodiment of the present invention；
Fig. 3 is the overlooking structure diagram of wheel type barrier-crossing robot provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of Stump-jump wheel steering mechanism provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
The embodiment of the present invention provides a kind of wheel type barrier-crossing robot, as shown in Figure 1 to Figure 3, the wheel type barrier-crossing robot packet
It includes: bracket, Stump-jump wheel 2, Stump-jump wheel mounting rack 3, obstacle detouring actuation 33, Stump-jump wheel steering driving mechanism 4, the first traveling wheel
5, the first walking is rotated to driving mechanism 6, the second traveling wheel 7, the second traveling wheel steering driving mechanism 8 and two traction drives
Mechanism 32, bracket include: the first branch pipe 9, the second branch pipe 10 and third branch pipe 11, and the first branch pipe 9 and the second branch pipe 10 are with respect to cloth
It sets in the first plane, one end of third branch pipe 11 is mounted on the first branch pipe 9, and the other end of third branch pipe 11 is mounted on second
On branch pipe 10, it is horizontally installed with the first mounting rack 12 on the first branch pipe 9, is horizontally installed with the second mounting rack on the second branch pipe 10
13, the first walking rotation is mounted on the first mounting rack 12 to driving mechanism 6, and the second traveling wheel steering driving mechanism 8 is mounted on
On second mounting rack 13.When realizing, the first branch pipe 9 and the second branch pipe 10 can be arranged in parallel.
First traveling wheel 5 and the second traveling wheel 7 are may be rotatably mounted at respectively on two traveling wheel wheel shafts 14, each traveling wheel
The both ends of wheel shaft 14 are separately fixed on traveling wheel wheel fork 15, and traveling wheel wheel fork 15 is rotated with the first walking to driving mechanism respectively
The transmission axis connection of 6 transmission shaft and the second traveling wheel steering driving mechanism 8.
Two ground drive mechanisms 32 are separately mounted on the first traveling wheel 5 and the second traveling wheel 7, traction drive machine
32 are configured to the first traveling wheel 5 of driving and the rotation of the second traveling wheel 7.
Shaft 16 is provided on second mounting rack 13, one end of Stump-jump wheel mounting rack 3 may be rotatably mounted in shaft 16, turn
The axis of axis 16 is arranged vertically with the first plane, and Stump-jump wheel steering driving mechanism 4 is fixed on the other end of Stump-jump wheel mounting rack 3
On, and the length of Stump-jump wheel mounting rack 3 is greater than the distance of first the 9 to the second branch pipe of branch pipe 10.
Stump-jump wheel 2 may be rotatably mounted on Stump-jump wheel wheel shaft 17, and the both ends of Stump-jump wheel wheel shaft 17 are separately fixed at Stump-jump wheel
On wheel fork 18, the transmission axis connection of Stump-jump wheel wheel fork 18 and Stump-jump wheel steering driving mechanism 4.When realizing, Stump-jump wheel 2 can pass through
Turning set 34 may be rotatably mounted on Stump-jump wheel wheel shaft 17.
Obstacle detouring actuation 33 is mounted on Stump-jump wheel 2, and obstacle detouring actuation 33 is configured as 2 turns of Stump-jump wheel of driving
It is dynamic.
When realizing, ground drive mechanism 32 and obstacle detouring actuation 33 may each comprise direct current generator, specifically may be used
Think ultrasonic motor, retarder can be saved using ultrasonic motor, thus reduce the weight of the wheel type barrier-crossing robot, it is more sharp
In the movement of wheel type barrier-crossing robot and the quick start of the first traveling wheel 5, the second traveling wheel 7 and Stump-jump wheel 2.
Specifically, which can also include camera assembly, and camera assembly includes rotating seat 19, telescopic rod
20 and camera 21, rotating seat 19 be mounted on the first mounting rack 12 or the second mounting rack 13, one end of telescopic rod 20 can be rotated
It is mounted on rotating seat 19, camera 21 is mounted on the other end of telescopic rod 20.Camera assembly can obtain wheel type barrier-crossing machine
The external environment of device people and the image feature of road conditions are convenient for wheel type barrier-crossing robot perception external environment and road conditions, and will acquisition
Data are passed airborne computer back and are handled.Telescopic rod 20 can rotate on rotating seat 19, make rotating seat 19 that can drive telescopic rod
The direction of 20 adjustment cameras 21, can adjust the height of camera 21 by telescopic rod 20, obtain convenient for camera assembly multi-faceted
External environment and road conditions image feature.
Specifically, Stump-jump wheel mounting rack 3 may include the first Stump-jump wheel mounting rack 3a and the second Stump-jump wheel mounting rack 3b, and
Angle α is equipped between first Stump-jump wheel mounting rack 3a and the second Stump-jump wheel mounting rack 3b, and angle α can be 90~175 °.This
Sample can be conducive to Stump-jump wheel 2 and be cleared the jumps by Stump-jump wheel mounting rack 3.
As shown in figure 4, Stump-jump wheel steering mechanism 4 may include: stepper motor 22, retarder 23, gear shaft 24 and transmission
Gear 25, stepper motor 22 and retarder 23 are separately fixed on the other end of Stump-jump wheel mounting rack 3 (i.e. the first Stump-jump wheel installation
The second end of frame 3a) on, and the input axis connection of the output shaft of stepper motor 22 and retarder 23, gear shaft 24 are mounted on deceleration
On the output shaft of device 23, transmission gear 25 is coaxially mounted to Stump-jump wheel wheel fork 18, and gear shaft 24 is engaged with transmission gear 25.When
When during obstacle detouring biggish inclination occurs for the bracket of wheel type barrier-crossing robot, it can be driven and be got over by Stump-jump wheel steering mechanism 4
Barrier wheel wheel fork 18 rotates, and Stump-jump wheel 2 is driven to deflect, and realizes the fast automatic return function of mass center of wheel type barrier-crossing robot.
Specifically, through-hole is offered respectively on the first mounting rack 12 and the second mounting rack 13, two traveling wheel wheel forks 15 divide
It is not arranged in the first branch pipe 9 and the second branch pipe 10, and is each passed through corresponding through-hole and the first walking rotation to driving mechanism 6
Transmission shaft and the second traveling wheel steering driving mechanism 8 transmission axis connection.Be arranged so can be avoided traveling wheel wheel fork 15 by
To the shock of external force, to improve the service life of the wheel type barrier-crossing robot, moreover it is possible to reduce the volume of wheel type barrier-crossing robot.
Further, two traveling wheel wheel forks 15 are provided with bearing (figure between the first branch pipe 9 and the second branch pipe 10 respectively
In do not show).Bearing can support two traveling wheel wheel forks 15 to rotate in the first branch pipe 9 and the second branch pipe 10.
Specifically, the support frame for being used to support the second end of the first Stump-jump wheel mounting rack 3a is provided on the first mounting rack 12
26.Support frame 26 is used to support the second end of the first Stump-jump wheel mounting rack 3a, prevents support Stump-jump wheel mounting rack 3 in non-obstacle detouring work
It shakes or shifts under condition, to influence the normal traveling of the wheel type barrier-crossing robot.
Specifically, the first walking rotation may each comprise to driving mechanism 6 and the second traveling wheel steering driving mechanism 8: row
Walk to take turns stepper motor (not shown) and walking wheel decelerator (not shown), traveling wheel stepper motor and walking wheel decelerator point
It Dui Ying not be fixed on the first mounting rack 12 and the second mounting rack 13, and the output shaft of traveling wheel stepper motor and traveling wheel slow down
The input axis connection of device, the output shaft for wheel decelerator of walking are sequentially connected with corresponding traveling wheel wheel fork 15 respectively.
Specifically, bracket further include: one end of the 4th branch pipe 29 and the 5th branch pipe 30, the 4th branch pipe 29 is fixed on first
The junction of pipe 9 and third branch pipe 11, the other end of the 4th branch pipe 29 are fixed on the bottom of the second branch pipe 10, the 5th branch pipe 30
One end is fixed on the junction of the second branch pipe 10 and third branch pipe 11, and the other end of the 5th branch pipe 30 is fixed on the first branch pipe 9
Bottom.4th branch pipe 29 and the 5th branch pipe 30 can be improved the stress-bearing capability of bracket.When realizing, the first branch pipe 9, the second branch pipe
10, third branch pipe 11, the 4th branch pipe 29 and the 5th branch pipe 30 can be an integral structure, and surround multiple stable triangle knots
Structure can be improved the stress-bearing capability of wheel type barrier-crossing robot in this way.
Specifically, bracket can also include the 6th branch pipe 35, and one end of the 6th branch pipe 35 is fixed on the first branch pipe 9 and the 5th
The junction of branch pipe 30, the other end of the 6th branch pipe 35 are fixed on the junction of the second branch pipe 10 and the 4th branch pipe 29.6th
Pipe 35 can further increase the stress-bearing capability of wheel type barrier-crossing robot.
Specifically, it is provided with internal measurement sensor 28 on Stump-jump wheel wheel shaft 17 and two traveling wheel wheel shafts 14, it is internal
Measurement sensor 28 may include: encoder, accelerometer and gyroscope.Internal measurement sensor 28 is for knowing wheel type barrier-crossing
The displacement state of robot and position, consequently facilitating user understand the wheel type barrier-crossing robot whether run-off the straight.Its
In, gyroscope can be three-axis gyroscope, and accelerometer can be three axis accelerometer.
Specifically, laser radar (not shown) can be set on bracket and Stump-jump wheel mounting rack 3.Laser radar is used
It is detected in the wheel type barrier-crossing robot surrounding road conditions.
In the present embodiment, the information that internal measurement sensor and laser radar transmit can be read by single-chip microcontroller, then led to
It crosses airborne computer information is analyzed and handled, the instant motion state of operation reasoning wheel type barrier-crossing robot, and then complete
Control at Stump-jump wheel steering mechanism, the first walking rotation to driving mechanism 6 and the second traveling wheel steering driving mechanism 8.
Specifically, Stump-jump wheel 2, the first traveling wheel 5 and the second traveling wheel 7 all can be Flexible sieve wheel, be specifically as follows
The variable Flexible sieve wheel of diameter, Flexible sieve wheel can be suitable on the complex road conditions such as desert, the soft ground of floating dust and broken stone road
Benefit is advanced.
It following is a brief introduction of the working principle of wheel type barrier-crossing robot provided in an embodiment of the present invention, specific as follows:
Under accessible or gully road conditions, the first traveling wheel 5 and the second traveling wheel 7 of wheel type barrier-crossing robot land,
And driven respectively by two ground drive mechanisms 32, under the road conditions for having obstacle, gully or step, wheel type barrier-crossing robot
Stump-jump wheel mounting rack 3 rotated by shaft 16 relative to bracket, Stump-jump wheel 2 follow Stump-jump wheel mounting rack 3 rotate and more
It crosses barrier, gully or more (the second traveling wheel 7 at this time may arrange vacantly, the first traveling wheel 5 and Stump-jump wheel to step top surface
2 land), drive Stump-jump wheel 2 to rotate by obstacle detouring actuation 33, with the first traveling wheel 5 or the first traveling wheel 5 and the second row
7 common rotations of wheel are walked, so that wheel type barrier-crossing robot is surmounted obstacles, gully and step, meanwhile, during obstacle detouring, work as wheel
When biggish inclination occurs for formula barrier-surpassing robot, Stump-jump wheel wheel fork 18 can be driven to rotate by Stump-jump wheel steering mechanism 4, and drive
Stump-jump wheel 2 deflects, and drives the rotation of the first traveling wheel 5 to driving mechanism 6 by the first walking rotation, and drive the first traveling wheel 5
Deflection when the second traveling wheel 7 also lands at that time, can also drive 7 turns of the second traveling wheel by the second traveling wheel steering driving mechanism 8
It is dynamic, and the deflection of the second traveling wheel 7 is driven, to realize the mass center of wheel type barrier-crossing robot fast automatic time just.
Wheel type barrier-crossing robot provided in an embodiment of the present invention, under accessible or gully road conditions, the first traveling wheel and
Second traveling wheel one in front and one in back single arrangement, and the first traveling wheels and the second row are driven by two ground drive mechanisms respectively
It walks wheel and rotates the back-and-forth motion, it can be achieved that wheel type barrier-crossing robot, under the road conditions for having obstacle, gully or step, Stump-jump wheel peace
Shelve and rotated by shaft relative to bracket, Stump-jump wheel follows Stump-jump wheel mounting rack to rotate and clears the jumps, gully or
More to step top surface, Stump-jump wheel rotation is driven by obstacle detouring actuation, with the first traveling wheel or the first traveling wheel and second
Traveling wheel common rotation enables wheel type barrier-crossing robot to surmount obstacles, gully and step, meanwhile, during obstacle detouring, work as wheel
When biggish inclination occurs for formula barrier-surpassing robot, the rotation of Stump-jump wheel wheel fork can be driven by Stump-jump wheel steering mechanism, and drive and get over
Barrier wheel deflection, it is dynamic to driving mechanism driving the first walking rotation by the first walking rotation, and the deflection of the first traveling wheel is driven, when
When the second traveling wheel the rotation of the second traveling wheel can be also driven by the second traveling wheel steering driving mechanism when also landing, and drive
Second traveling wheel deflection, to realize the mass center of wheel type barrier-crossing robot fast automatic time just.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of wheel type barrier-crossing robot, which is characterized in that the wheel type barrier-crossing robot includes: bracket, Stump-jump wheel, Stump-jump wheel
Mounting rack, obstacle detouring actuation, Stump-jump wheel steering driving mechanism, the first traveling wheel, the first walking rotation are to driving mechanism, the
Two traveling wheels, the second traveling wheel steering driving mechanism and two ground drive mechanisms, the bracket include: the first branch pipe,
Two branch pipes and third branch pipe, first branch pipe and second branch pipe are oppositely disposed in the first plane, the third branch pipe
One end be mounted on first branch pipe, the other end of the third branch pipe is mounted on second branch pipe, described first
First mounting rack is installed on branch pipe, the second mounting rack is installed on second branch pipe, first walking is rotated to driving
Mechanism is mounted on first mounting rack, and the second traveling wheel steering driving mechanism is mounted on second mounting rack,
First traveling wheel and second traveling wheel are may be rotatably mounted at respectively on two traveling wheel wheel shafts, each row
The both ends for walking wheel shaft are separately fixed on traveling wheel wheel fork, and the traveling wheel wheel fork is rotated with first walking to drive respectively
The transmission axis connection of the transmission shaft of motivation structure and the second traveling wheel steering driving mechanism；
Described two ground drive mechanisms are separately mounted on first traveling wheel and second traveling wheel, the walking
Wheel drive machine is configured to that first traveling wheel and second traveling wheel is driven to rotate；
Shaft is provided on second mounting rack, one end of the Stump-jump wheel mounting rack may be rotatably mounted in the shaft,
The axis of the shaft is arranged vertically with first plane, and the Stump-jump wheel steering driving mechanism is fixed on the Stump-jump wheel peace
On the other end shelved, and the length of the Stump-jump wheel mounting rack is greater than the distance of first branch pipe to second branch pipe；
The Stump-jump wheel may be rotatably mounted on Stump-jump wheel wheel shaft, and the both ends of the Stump-jump wheel wheel shaft are separately fixed at Stump-jump wheel wheel
On fork, the transmission axis connection of the Stump-jump wheel wheel fork and the Stump-jump wheel steering driving mechanism；
The obstacle detouring actuation is mounted on the Stump-jump wheel, and it is described more that the obstacle detouring actuation is configured as driving
Barrier wheel rotation.
2. wheel type barrier-crossing robot according to claim 1, which is characterized in that the wheel type barrier-crossing robot further includes taking the photograph
As component, the camera assembly includes rotating seat, telescopic rod and camera, the rotating seat be mounted on first mounting rack or
On second mounting rack, one end of the telescopic rod be may be rotatably mounted on the rotating seat, and the camera is mounted on institute
It states on the other end of telescopic rod.
3. wheel type barrier-crossing robot according to claim 1, which is characterized in that the Stump-jump wheel steering mechanism includes: step
Into motor, retarder, gear shaft and transmission gear, the stepper motor and the retarder are separately fixed at the Stump-jump wheel peace
On the other end shelved, and the input axis connection of the output shaft of the stepper motor and the retarder, the gear shaft installation
On the output shaft of the retarder, the transmission gear is coaxially mounted to the Stump-jump wheel wheel fork, and the gear shaft and institute
State transmission gear engagement.
4. wheel type barrier-crossing robot according to claim 1, which is characterized in that first mounting rack and second peace
It shelves and offers through-hole respectively, two traveling wheel wheel forks are arranged in first branch pipe and second branch pipe
It is interior, and it is each passed through the transmission shaft and second walking of the corresponding through-hole and the first walking rotation to driving mechanism
Take turns the transmission axis connection of steering driving mechanism.
5. wheel type barrier-crossing robot according to claim 1, which is characterized in that the Stump-jump wheel mounting rack is got over including first
Barrier wheel mounting rack and the second Stump-jump wheel mounting rack, the first end of the first Stump-jump wheel mounting rack and second Stump-jump wheel installation
The first end of frame connects, and angle is equipped between the first Stump-jump wheel mounting rack and the second Stump-jump wheel mounting rack.
6. wheel type barrier-crossing robot according to claim 5, which is characterized in that be provided with and be used on first mounting rack
Support the support frame of the second end of the first Stump-jump wheel mounting rack.
7. wheel type barrier-crossing robot according to claim 1, which is characterized in that first walking is rotated to driving mechanism
It include traveling wheel stepper motor and walking wheel decelerator, the traveling wheel stepping with the second traveling wheel steering driving mechanism
Motor and the walking wheel decelerator are respectively corresponded and are fixed on first mounting rack and second mounting rack, and the row
Walk to take turns the output shaft of stepper motor and the input axis connection of the walking wheel decelerator, the output shaft point of the walking wheel decelerator
It is not sequentially connected with the corresponding traveling wheel wheel fork.
8. wheel type barrier-crossing robot according to claim 1, which is characterized in that the bracket further includes the 4th branch pipe and
Five branch pipes, one end of the 4th branch pipe are fixed on the junction of first branch pipe Yu the third branch pipe, and described 4th
The other end of pipe is fixed on the bottom of second branch pipe, one end of the 5th branch pipe be fixed on second branch pipe with it is described
The other end of the junction of third branch pipe, the 5th branch pipe is fixed on the bottom of first branch pipe.
9. wheel type barrier-crossing robot according to claim 1, which is characterized in that the Stump-jump wheel wheel shaft and two rows
It walks and is provided with internal measurement sensor on wheel shaft, the internal measurement sensor includes: encoder, accelerometer and gyro
Instrument.
10. wheel type barrier-crossing robot according to claim 1, which is characterized in that the bracket and Stump-jump wheel installation
Laser radar is provided on frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811161638.8A CN109178140A (en) | 2018-09-30 | 2018-09-30 | A kind of wheel type barrier-crossing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811161638.8A CN109178140A (en) | 2018-09-30 | 2018-09-30 | A kind of wheel type barrier-crossing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109178140A true CN109178140A (en) | 2019-01-11 |
Family
ID=64946553
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201811161638.8A Pending CN109178140A (en) | 2018-09-30 | 2018-09-30 | A kind of wheel type barrier-crossing robot |
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| CN112433535A (en) * | 2020-11-18 | 2021-03-02 | 北京理工大学 | Wheel-step composite mobile platform and multi-joint cooperative self-stabilizing method under obstacle crossing mode |
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