CN109334799A - A kind of climbing robot wheel part device towards mountainous region investigation - Google Patents
A kind of climbing robot wheel part device towards mountainous region investigation Download PDFInfo
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- CN109334799A CN109334799A CN201811155499.8A CN201811155499A CN109334799A CN 109334799 A CN109334799 A CN 109334799A CN 201811155499 A CN201811155499 A CN 201811155499A CN 109334799 A CN109334799 A CN 109334799A
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- wheel
- stepper motor
- bracket
- pin
- support frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The present invention relates to a kind of climbing robot wheel part devices, and in particular to a kind of climbing robot wheel part device towards mountainous region investigation.The present invention is solves the problems, such as that climbing robot climb difficulty, shortage damping and gesture stability in mountain reconnaissance environment in the prior art.Climbing robot wheel part device of the present invention includes: combination wheel, transmission system, shock mitigation system, fuselage and control system.Combination wheel includes wheel I, wheel II, wheel III, triangle train support frame, crawler belt and L-type support, three identical wheels with straight-tooth are distributed in triangle train support frame at positive triangle, crawler belt engages simultaneously with three wheels, shock mitigation system includes damper, bracket I and bracket II, the control system is connected based on main control chip STM32F103C8T6 with stepper motor driver chip TB6600 and six axle sensor ATK-MPU6050 control.Wheel part device of the invention has the characteristics that climbing capacity is strong, damping performance is good and controlled attitude system, can work in more slopes and the mountain environment for having drop.The device investigates field for mountainous region.
Description
Technical field
The present invention relates to a kind of climbing robot wheel part devices, more particularly to a kind of crawling machine towards mountainous region investigation
People takes turns part device.
Background technique
Mountainous region around massif due to holding under the natural causes collective effects such as geological structure, formation lithology and weather rainfall
Easily form landslide.Landslide place and surrounding adjacent area landform shape be hill features, entire mountainous region by vegetal cover, and
Investigator is not easy close, and surrounding ground geology is loose, is extremely easy to happen landslide in rainy season, brings to investigator
Puzzlement makes a forcible entry into mountainous region investigation and is easy to happen peril, and mountainous region is mostly the geological structures such as koppie, rock, investigation
Personnel are in the environment investigation for a long time and are easy to consume many-body force, and investigate need on the way it is frequent go up a slope and under
Slope movement, if the gradient is too big, there are also the danger fallen.
And be difficult in existing technology discovery simultaneously have climbing capacity is strong, damping performance well and controlled attitude mountain
Climbing robot is investigated on ground, and due to the rugged complicated geographical environment in mountainous region, climbing robot needs often cross Gao Po, when
When the wheel portion of robot is slipped to low spot from high point, it can not be inhaled since robot lacks shock mitigation system and gesture stability, robot
The vibration and impact fallen from fuselage are received, be easy to cause the damage of robot circuit arrangement, and can not adjust under body
The variation of acceleration and angular speed when falling, fuselage change dramatically of pose when falling be easy to cause robot to turn on one's side, to machine
Device people's components are damaged or are failed, and if things go on like this increase the maintenance cost of robot, and therefore, existing mountainous region investigation is creeped
Robot can not effectively complete investigation in mountain environment.
Summary of the invention
The present invention in order to solve mountainous region in the prior art investigation climbing robot exist in mountain environment climbing it is difficult,
The problem of lacking damping and gesture stability, to provide a kind of climbing robot wheel part device towards mountainous region investigation.
The technical solution adopted by the present invention to solve the above technical problem is: the robot wheel part device includes combination
Wheel, transmission system, shock mitigation system, fuselage and control system, combination wheel include wheel I, wheel II, wheel III, triangle train support frame,
Crawler belt and L-type support, three identical wheels with straight-tooth are distributed in triangle train support frame at positive triangle, crawler belt and three wheels
Son engages simultaneously, and transmission system includes stepper motor, retarder, transmission shaft I, transmission shaft II and Hooks coupling universal coupling, shock mitigation system
Comprising damper, bracket I and bracket II, standard of fuselage is placed, and control system is fixedly mounted on fuselage, and control system is with master control
Based on chip STM32F103C8T6, and connect with stepper motor driver chip TB6600 and six axle sensor ATK-MPU6050 control
It connects.
Control process of the invention is as follows: the control system of wheel part device of the present invention includes control and the fuselage of stepper motor
The control of posture, the control of the stepper motor are PA2, PA3 pin and stepper motor by main control chip STM32F103C8T6
DIR-, PUL- pin of driving chip TB6600 controls connection, the DIR- pin control of the stepper motor driver chip TB6600
The forward and backward of stepper motor processed, the main control chip STM32F103C8T6 and stepper motor driver chip TB6600 use common anode
Pole connection, VCC pin control with DIR+, PUL+ pin of stepper motor driver chip TB6600 connect respectively, the stepping electricity
A+, A-, B+, B- pin of machine driving chip TB6600 respectively with winding MOTOR1+, MOTOR1- of stepper motor, MOTOR2+,
MOTOR2- control connection, PB9, PB8, VCC, the GND pin of the main control chip STM32F103C8T6 are sensed with six axis respectively
SDA, SCL of device ATK-MPU6050, VCC, GND pin control connection；
Due to the rugged complicated geographical environment in mountainous region, climbing robot needs often climbing, when crawling machine is investigated in mountainous region
When people's wheel portion has just touched bottom of slope, main control chip STM32F103C8T6, which controls stepper motor driver chip TB6600, reduces stepping
The revolving speed of motor, improves the torque of stepper motor, and the rotation of stepper motor drives triangle wheel by transmission shaft and retarder transmitting
It is that support frame rotates 120 degree, triangle train support frame, which rotates forward, drives crawler belt to rotate climbing, six axle sensor ATK- forward
MPU6050 obtains the inclination angle of the X, Y, Z axis of robot, by six data (three axis for reading six axle sensor ATK-MPU6050
Acceleration value, three axis angular rate values) it can be obtained by pitch angle, yaw angle and roll angle, main control chip after posture merges
STM32F103C8T6 carries out Kalman's filter by the pitch angle of six axle sensor ATK-MPU6050 feedback, yaw angle and roll angle
Wave algorithm and pid algorithm control the acceleration and angular speed of robot in real time, and robot is made to smoothly achieve climbing movement.
The invention has the following advantages: the present invention has combination wheel, transmission system, shock mitigation system, fuselage and control
System.Combination wheel uses triangle train caterpillar belt structure, shock mitigation system and gesture stability, has that climbing capacity is strong, damping performance is good
The characteristics of good and controlled attitude, can work in more slopes and the mountain environment for having drop.
Detailed description of the invention
Fig. 1 is overall structure main view of the invention, and Fig. 2 is the top view of Fig. 1, and Fig. 3 is that whole structure of the invention is shown
It is intended to, Fig. 4 is the circuit diagram of control system main control chip STM32F103C8T6 of the present invention, and Fig. 5 is stepper motor of the present invention
The circuit diagram of driving chip TB6600, Fig. 6 are the circuit diagrams of six axle sensor ATK-MPU6050 chips of the invention,
Fig. 7 is control system schematic diagram of the present invention.
Specific embodiment
Specific embodiment 1: illustrating that present embodiment, one kind described in present embodiment are detectd towards mountainous region in conjunction with Fig. 1-Fig. 3
The climbing robot wheel part device looked into includes combination wheel 1, transmission system 2, shock mitigation system 3, fuselage 4 and control system 5, combination wheel
1 include wheel I11, wheel II12, wheel III13, triangle train support frame 14, crawler belt 15 and L-type support 16, and three identical with straight-tooth
Wheel is distributed in triangle train support frame 14 at positive triangle, and crawler belt 15 engages simultaneously with three wheels, and transmission system 2 includes step
Into motor 21, retarder 22, transmission shaft I23, transmission shaft II25 and Hooks coupling universal coupling 24, shock mitigation system 3 includes damper 31, branch
Frame I32 and bracket II33, fuselage 4 are horizontal positioned, and control system 5 is fixedly mounted on fuselage 4, control system 5 by
STM32F103C8T6 chip as master chip, and with stepper motor driver chip TB6600 and six axle sensor ATK-MPU6050
Control connection.
Stepper motor 21 is the prior art in present embodiment, and manufacturer is Oriental Motor Co., Ltd., model
PK256-02A。
The main control chip of control system 5 is the prior art in present embodiment, and manufacturer is ST Microelectronics, type
Number be STM32F103C8T6.
The stepper motor driver chip of control system 5 is the prior art in present embodiment, and manufacturer is TELESKY public
Department, model TB6600.
In present embodiment six axle sensor chips of control system 5 be the prior art, manufacturer be positive point atom public affairs
Department, model ATK-MPU6050.
Hooks coupling universal coupling 24 is the prior art in present embodiment, and manufacturer is Toolmate company, model
H783623。
Specific embodiment 2: embodiment is described with reference to Fig. 3, combination wheel 1 described in present embodiment include wheel I11,
II12, wheel III13, triangle train support frame 14, crawler belt 15 and L-type support 16 are taken turns, wheel I11, wheel II12 and wheel III13 pass through pin
Axis is fixed on 14 end of triangle train support frame, and crawler belt 15 engages simultaneously with three wheels, triangle train support frame 14 and L-type branch
Frame 16 is fixedly connected, and L-type support 16 is fixedly connected with fuselage 4, other same as the specific embodiment one.
Specific embodiment 3: embodiment is described with reference to Fig. 3, transmission system 2 described in present embodiment includes stepping
Motor 21, retarder 22, transmission shaft I23, transmission shaft II25 and Hooks coupling universal coupling 24, stepper motor 21 and retarder 22 are fixed to be connected
It connecing, retarder 22 is fixedly connected with transmission shaft I23, and transmission shaft I23 is fixedly connected with transmission shaft II25 by Hooks coupling universal coupling 24,
Transmission shaft II25 is fixedly connected with triangle train support frame 14, and transmission shaft II25 and L-type support 16 are rotatablely connected, it is other with it is specific
Embodiment one is identical.
Stepper motor 21 is the prior art in present embodiment, and manufacturer is Oriental Motor Co., Ltd., model
PK256-02A。
Hooks coupling universal coupling 24 is the prior art in present embodiment, and manufacturer is Toolmate company, model
H783623。
Specific embodiment 4: embodiment is described with reference to Fig. 3, shock mitigation system 3 described in present embodiment includes damping
Device 31, bracket I32 and bracket II33, damper 31 are fixedly connected with L-type support 16 and bracket I32 respectively by pin shaft, bracket
I32 is fixedly connected with bracket II33 by pin shaft, and bracket II33 is fixedly connected with 22 shell of retarder, other and specific embodiment party
Formula one is identical.
Specific embodiment 5: illustrating that present embodiment, control system 5 described in present embodiment include in conjunction with Fig. 4-Fig. 7
Main control chip STM32F103C8T6, stepper motor driver chip TB6600 and six axle sensor ATK-MPU6050, the master control
PA2, PA3 pin of chip STM32F103C8T6 is respectively with the stepper motor driver chip TB6600's of control stepper motor 21
DIR-, PUL- pin connection, PB9, PB8, VCC, GND pin respectively with SDA, SCL of six axle sensor ATK-MPU6050,
VCC, GND pin connection, the main control chip STM32F103C8T6 and stepper motor driver chip TB6600 are connect using common-anode
Method, VCC pin control with DIR+, PUL+ pin of stepper motor driver chip TB6600 connect respectively, and the stepper motor drives
A+, A-, B+, B- pin of dynamic chip TB6600 respectively with winding MOTOR1+, MOTOR1- of stepper motor 21, MOTOR2+,
MOTOR2- connection, it is other same as the specific embodiment one.
Working principle
The course of work of the present invention: when the climbing of the wheel part device of climbing robot, main control chip STM32F103C8T6 controls stepping
Motor drive ic TB6600 reduces the revolving speed of stepper motor 21, improves the torque of stepper motor 21, the rotation of stepper motor 21
Being transmitted by retarder 22, transmission shaft I23 and transmission shaft II25 drives triangle wheel system support frame 14 to rotate 120 degree, triangle train
Support frame 14, which rotates forward, drives crawler belt 15 to rotate climbing forward, and six axle sensor ATK-MPU6050 obtain X, Y, Z of robot
The inclination angle of axis, six data (3-axis acceleration value, three axis angular rate values) by reading six axle sensor ATK-MPU6050 pass through
It can be obtained by pitch angle, yaw angle and roll angle after crossing posture fusion, main control chip STM32F103C8T6 is sensed by six axis
Pitch angle, yaw angle and the roll angle of device ATK-MPU6050 feedback carry out Kalman filtering algorithm and pid algorithm controls in real time
The acceleration and angular speed of robot makes the speed of climbing robot be constantly at the uniform velocity state according to the difference of the gradient, passes through
Main control chip STM32F103C8T6 control stepper motor 21 rotates in the forward direction, and stepper motor 21 drives retarder 22 to rotate forward, and subtracts
Fast device 22 drives transmission shaft I23 to rotate forward, and transmission shaft I23 drives transmission shaft II25 to rotate forward by Hooks coupling universal coupling 24,
Transmission shaft II25 drives triangle train support frame 14 to rotate forward, and the rotation of triangle train support frame 14 drives crawler belt 15 is positive to turn
It is dynamic, the wheel part device of climbing robot is moved forward, the movement of climbing is completed；
When the wheel part device of climbing robot is fallen from Gao Po, shock mitigation system 3 absorbs the machine of coming from by the compression of damper 31
The impact force and vibration that body and ground face contact generate, land the wheel part device of climbing robot steadily, mitigate due to impact force
Damage with vibration to electronic equipment and robot components.
Claims (5)
1. it is a kind of towards mountainous region investigation climbing robot wheel part device, it is characterised in that: it is described it is a kind of towards mountainous region investigation
Climbing robot wheel part device includes combination wheel (1), transmission system (2), shock mitigation system (3), fuselage (4) and control system (5),
Combination wheel (1) includes wheel I(11), wheel II(12), wheel III(13), triangle train support frame (14), crawler belt (15) and L-type support
(16), three identical wheels with straight-tooth are distributed in triangle train support frame (14) at positive triangle, crawler belt (15) and three wheels
Son engage simultaneously, transmission system (2) include stepper motor (21), retarder (22), transmission shaft I(23), transmission shaft II(25) and
Hooks coupling universal coupling (24), shock mitigation system (3) they include damper (31), bracket I(32) and bracket II(33), fuselage (4) level is put
It sets, control system (5) is fixedly mounted on fuselage (4), and control system (5) is by STM32F103 chip as master chip and stepping
Motor drive ic TB6600 and six axle sensor ATK-MPU6050 control connection.
2. according to claim 1 combination wheel (1) include wheel I(11), wheel II(12), wheel III(13), triangle train support frame
(14), crawler belt (15) and L-type support (16) take turns I(11), wheel II(12) and take turns III(13) triangle train is fixed on by pin shaft
Support frame (14) end, crawler belt (15) engage simultaneously with three wheels, and triangle train support frame (14) and L-type support (16) are fixed
Connection, L-type support (16) are fixedly connected with fuselage (4).
3. transmission system (2) includes stepper motor (21), retarder (22), transmission shaft I(23 according to claim 1), pass
Moving axis II(25) and Hooks coupling universal coupling (24), stepper motor (21) be fixedly connected with retarder (22), retarder (22) and transmission
Axis I(23) be fixedly connected, transmission shaft I(23) be fixedly connected with transmission shaft II(25) by Hooks coupling universal coupling (24), transmission shaft II
(25) it is fixedly connected, transmission shaft II(25 with triangle train support frame (14)) it is rotatablely connected with L-type support (16).
4. shock mitigation system (3) includes damper (31), bracket I(32 according to claim 1) and bracket II(33), damper
(31) it is fixedly connected, bracket I(32 with L-type support (16) and bracket I(32) respectively by pin shaft) pass through pin with bracket II(33)
Axis is fixedly connected, bracket II(33) it is fixedly connected with retarder (22) shell.
5. control system (5) includes main control chip STM32F103, stepper motor driver chip according to claim 1
TB6600 and six axle sensor ATK-MPU6050, PA2, PA3 pin of the main control chip STM32F103 are walked with control respectively
Into DIR-, PUL- pin connection of the stepper motor driver chip TB6600 of motor (21), PB9, PB8, VCC, GND pin difference
It is connect with SDA, SCL, VCC, the GND pin of six axle sensor ATK-MPU6050, the main control chip STM32F103 and stepping
Motor drive ic TB6600 use common-anode, VCC pin respectively with the DIR+ of stepper motor driver chip TB6600,
PUL+ pin control connection, A+, A-, B+, B- pin of the stepper motor driver chip TB6600 respectively with stepper motor
(21) winding MOTOR1+, MOTOR1-, MOTOR2+, MOTOR2- connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811155499.8A CN109334799A (en) | 2018-09-30 | 2018-09-30 | A kind of climbing robot wheel part device towards mountainous region investigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811155499.8A CN109334799A (en) | 2018-09-30 | 2018-09-30 | A kind of climbing robot wheel part device towards mountainous region investigation |
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| Publication Number | Publication Date |
|---|---|
| CN109334799A true CN109334799A (en) | 2019-02-15 |
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ID=65308068
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811155499.8A Pending CN109334799A (en) | 2018-09-30 | 2018-09-30 | A kind of climbing robot wheel part device towards mountainous region investigation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110014451A (en) * | 2019-04-24 | 2019-07-16 | 哈尔滨理工大学 | It is a kind of suitable for the crawling machine human hip device of slope pavement and control |
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| US9989970B1 (en) * | 2016-08-03 | 2018-06-05 | X Development Llc | Systems and methods for robots having an adjustable multi-wheel |
| CN106892014A (en) * | 2017-02-22 | 2017-06-27 | 华中科技大学 | A kind of planet gear type barrier-surpassing robot suitable for rotating ladder |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110014451A (en) * | 2019-04-24 | 2019-07-16 | 哈尔滨理工大学 | It is a kind of suitable for the crawling machine human hip device of slope pavement and control |
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Application publication date: 20190215 |