CN113400924A - Deformable crawler-type reconfigurable composite chassis for robot - Google Patents
Deformable crawler-type reconfigurable composite chassis for robot Download PDFInfo
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- CN113400924A CN113400924A CN202110529298.5A CN202110529298A CN113400924A CN 113400924 A CN113400924 A CN 113400924A CN 202110529298 A CN202110529298 A CN 202110529298A CN 113400924 A CN113400924 A CN 113400924A
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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
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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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
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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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
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
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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
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
- B62D55/305—Track-tensioning means acting on pivotably mounted idlers
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- Combustion & Propulsion (AREA)
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Abstract
The invention relates to the technical field of robot chassis, in particular to a composite chassis for a deformable crawler type reconfigurable robot, which comprises a first crawler type advancing assembly and a second crawler type advancing assembly, wherein the first crawler type advancing assembly comprises a driving wheel, a deforming wheel, a first connecting rod, a second connecting rod, a first motor, a driving wheel shaft, a first crawler, a connecting plate and a deforming assembly, the first motor is fixedly arranged on the connecting plate, the driving wheel shaft is fixedly arranged on an output shaft of the first motor, the driving wheel is fixedly arranged on the driving wheel shaft, and the deforming assembly is fixedly arranged on the connecting plate. According to the invention, when the robot moves on a complex terrain, the balance of the robot can be kept through the composite chassis, the composite chassis has strong obstacle-crossing capability, can adapt to different complex terrains, can complete butt joint on the complex terrains, and further improves the rescue capability.
Description
Technical Field
The invention relates to the technical field of robot chassis, in particular to a composite chassis for a deformable crawler-type reconfigurable robot.
Background
In recent years, the number of disasters caused by natural disasters such as earthquakes, floods, typhoons and malignant accidents such as high-rise fires, explosions, and collapse of mines to humans has been very large. At present, the rescue work after a disaster in China is developed mainly in two forms, firstly, rescuers carry tools to enter a disaster site to execute a search and rescue task, but the equipment is small, the efficiency is relatively low, the rescuers are easy to fatigue after long-time continuous operation, and the safety of the rescuers is difficult to ensure; secondly, large machinery is used for rescue operation, but the equipment is heavy in weight and is not convenient to transport and deploy quickly; and the equipment function is comparatively single, can not realize nimble accurate operation, is difficult to realize high-efficient rescue at the disaster scene that the environment is complicated.
The two-wheeled post-disaster exploration micro-robot on the market at present has a single structure, when the post-disaster exploration rescue is carried out, the terrain is damaged, the terrain is complex, the robot is easily influenced by the terrain when moving, the self balance of the robot is influenced, the existing two-wheeled post-disaster exploration micro-robot on the market is insufficient in obstacle crossing capability on the complex terrain, and the exploration and rescue performance is influenced.
Disclosure of Invention
In view of the above, the invention aims to provide a composite chassis for a deformable crawler-type reconfigurable robot, so that when the robot moves on a complex terrain, the composite chassis can keep self balance, has strong obstacle-crossing capability, can adapt to different complex terrains, can complete butt joint on the complex terrains, and further improves rescue capability.
The invention solves the technical problems by the following technical means:
a deformable crawler comprises a first crawler type advancing assembly and a second crawler type advancing assembly, wherein the first crawler type advancing assembly comprises a driving wheel, a deformable wheel, a first connecting rod, a second connecting rod, a first motor, a driving wheel shaft, a first crawler, a connecting plate and a deformable assembly, the first motor is fixedly mounted on the connecting plate, the driving wheel shaft is fixedly mounted on an output shaft of the first motor, the driving wheel is fixedly mounted on the driving wheel shaft, the deformable assembly is fixedly mounted on the connecting plate, one end of the first connecting rod is in transmission connection with the deformable assembly, the other end of the first connecting rod is connected with the deformable wheel, one end of the second connecting rod is in rotation connection with the driving wheel, the other end of the second connecting rod is connected with the deformable wheel, and the first crawler is tensioned on the driving wheel and the deformable wheel.
Further, the deformation assembly comprises a second motor, a first synchronous wheel, a second synchronous wheel and a second crawler belt, the second motor is fixedly arranged on the connecting plate, the first synchronous wheel is fixedly arranged on an output shaft of the second motor, the second synchronous wheel is arranged on a driving wheel shaft, a bearing is arranged between the second synchronous wheel and the driving wheel shaft, and the second crawler belt is tensioned on the first synchronous wheel and the second synchronous wheel, so that the arrangement is that when the micro-robot normally moves, the second motor in the deformation assembly does not work, the second motor enables the second crawler belt to be in a locking state, when the second crawler belt is in the locking state, the first connecting rod and the second connecting rod are also in the locking state, the relative positions of the driving wheel and the deformation wheel are kept unchanged, the deformation of the crawler belt during normal running is avoided, and simultaneously, the first connecting rod, the second connecting rod and the second crawler belt are locked, the chassis is kept in a balanced state, and the normal motion of the chassis is facilitated. Through the arrangement of the first crawler travelling assembly and the second crawler travelling assembly, the chassis can maintain self balance on different complex terrains, and therefore the movement of the robot is facilitated.
Further, the structure that first connecting rod and second are connected is the same, first connecting rod includes interrupt type threaded rod and overcoat regulation cylinder, the one end fixed connection of interrupt type threaded rod is on the second synchronizing wheel, and other end fixed connection takes turns to at the deformation, overcoat regulation cylinder spiro union is on interrupt type threaded rod, sets up like this, through the elasticity of being connected between the adjustable drive wheel of rotatory regulation cylinder and the deformation wheel, avoids first track tension, can influence walking power, increases the wearing and tearing volume between each part, avoids first track tension simultaneously, leads to the problem that first track driving in-process may drop.
The arrangement enables the outside to control the microcomputer to send out an instruction, so that the work of the first motor is controlled, the movement speed of the chassis is further controlled, and the movement speed of the robot applying the composite chassis is controlled.
The invention also discloses a composite chassis for the reconfigurable robot, which comprises the deformable crawler belt.
Further, the composite chassis for the reconfigurable robot also comprises a chassis, a driving end, a capturing end and a floating mechanism, the chassis is provided with a microcomputer, the active end is arranged at the front end of the chassis, the capture end is arranged at the rear end of the chassis, the first crawler-type traveling component and the second crawler-type traveling component are respectively arranged at two sides of the chassis, the floating mechanism is arranged on the chassis, the floating mechanism is in transmission connection with the driving end and the capturing end, the microcomputer is in wireless signal connection with the active end, the capture end, the first motor, the second motor and the floating mechanism, the composite chassis can also complete butt joint in the moving process through the mutual matching of the chassis, the driving end, the capturing end, the floating mechanism and the deformable crawler type advancing mechanism, therefore, the rescue capacity of the robot with the composite chassis is improved, and the obstacle crossing capacity of the robot is further improved.
Further, the chassis comprises a first fixing plate and a second fixing plate, the second fixing plate is installed on the first fixing plate, the driving end is installed at the front end of the second fixing plate, the capturing end is installed at the rear end of the second fixing plate, and the connecting plate is fixedly installed on the first fixing plate.
Further, the floating mechanism comprises a floating shaft, a rotating seat and a plurality of first elastic plungers, the rotating seat is fixedly arranged on the second fixing plate, the floating shaft is arranged between the first fixing plate and the rotating seat in a penetrating manner, a plurality of steel balls are arranged between the floating shaft and the rotating seat, the first elastic plungers are arranged between the first fixing plate and the second fixing plate and are circumferentially distributed on the periphery of the floating shaft, the floating mechanism is a follow-up mechanism, so that the driving end and the capturing end can float up and down along with the rotating seat and automatically reset, when the driving end and the capturing end have horizontal transverse or vertical position difference, the driving end is slowly inserted obliquely (with transverse position difference and without being over against the central hole of the capturing end) into the capturing end, the floating mechanism rotates left and right simultaneously, and the oblique insertion is changed into positive insertion (namely the driving end is over against the central hole of the capturing end), and finally, the butt joint is completed, so that when the height difference or the transverse difference or both the height difference and the transverse difference exist at the positions of the two composite chassis, the two composite chassis can still be in butt joint combination through the driving end and the capturing end, the butt joint requirements of the chassis of the bottom box under various complex terrain conditions are further met, and the butt joint requirements of a robot applying the composite chassis under various complex terrain conditions are met.
Further, two second elastic plungers are installed on the two sides of the first fixing plate and the two sides of the second fixing plate, and the first fixing plate is arranged in such a way that the rotating seat can automatically reset after rotating left and right.
Further, the driving end comprises a first mounting frame, a steering engine, a rotating shaft, a first connecting frame and a bolt, the first mounting frame is mounted at the front end of the second fixing plate, the steering engine is fixedly mounted in the first mounting frame, an output shaft of the steering engine is fixedly connected with the rotating shaft, two ends of the rotating shaft are respectively rotated to penetrate through two sides of the first mounting frame, the first connecting frame is fixedly connected with two ends of the rotating shaft, the bolt is fixedly mounted on the first connecting frame, a jack is formed in the bolt, the steering engine is connected with a microcomputer through wireless signals, the driving end is arranged in a mode, the driving end can rotate up and down, the driving end is connected with the capturing end, and when the driving end is not used, the driving end can rotate downwards, the size of the robot chassis can be reduced, and the carrying is convenient.
Further, catch the end including catching port, second mounting bracket, second link and plug-type electric mortiser lock, second link fixed mounting is in the rear end of second fixed plate, catch port fixed mounting on the second link, it leaks hopper-shaped to catch the port to be cavity, catch and seted up the through-hole on the port, second mounting bracket fixed mounting is on catching the port, plug-type electric mortiser lock fixed mounting is in the second mounting bracket, the inserted bar of plug-type electric mortiser lock is located same vertical axis with the through-hole, one side of second mounting bracket is provided with places the board, it is provided with the two-dimensional code on the board to place, sets up like this, is convenient for catch the end and hold with the initiative be connected or separate.
The invention has the following advantages:
1. the composite chassis can maintain the balance of the composite chassis on a complex terrain through the arrangement of the first crawler type advancing assembly and the second crawler type advancing assembly, and the first crawler type advancing assembly and the second crawler type advancing assembly can deform the crawler belt through the arrangement of the deformation assemblies in the first crawler type advancing assembly and the second crawler type advancing assembly, so that the composite chassis can better adapt to different terrains, has stronger obstacle crossing capability, is convenient for the movement of the composite chassis, and is convenient for rescue by a robot applying the composite chassis;
2. through the arrangement of the floating mechanism, the driving end and the capturing end, when the height difference or the transverse difference or both the height difference and the transverse difference exist at the positions of the two composite chassis, the two composite chassis can still be accurately butted and combined through the driving end and the capturing end, so that the butting requirements of the composite chassis under various complex terrain conditions are met, and the rescue capability and the obstacle crossing capability of a robot applying the composite chassis are improved;
3. through the rotation of the driving end, after the driving end and the capturing end are in butt joint combination, the large-angle deformation from 90 degrees to-45 degrees can be realized, so that the composite chassis and the robot assembly after butt joint can deform, and the applicability of the composite chassis and the robot assembly after butt joint is further enhanced.
Drawings
FIG. 1 is a schematic view of a deformable track according to the present invention;
FIG. 2 is a second schematic structural view of a deformable track of the present invention;
FIG. 3 is a third schematic structural view of a deformable track of the present invention;
FIG. 4 is a schematic structural diagram of a composite chassis for a reconfigurable robot according to the present invention;
FIG. 5 is a first schematic structural diagram of a floating mechanism in a composite chassis for a reconfigurable robot according to the present invention;
FIG. 6 is a structural schematic diagram II of a floating mechanism in a composite chassis for a reconfigurable robot according to the present invention;
FIG. 7 is a schematic structural diagram of an active end in a composite chassis for a reconfigurable robot according to the present invention;
FIG. 8 is a schematic structural diagram of a capture end in a composite chassis for a reconfigurable robot according to the present invention;
FIG. 9 is a schematic view of an installation structure of an active end and a capture end in a composite chassis for a reconfigurable robot according to the present invention;
FIG. 10 is a partial structural schematic diagram of the two undocked robots in the composite chassis for the reconfigurable robot according to the present invention;
FIG. 11 is a partial structural schematic diagram of a reconfigurable robot after two robots in a composite chassis are butted according to the invention;
FIG. 12 is a schematic structural diagram illustrating normal movement of two robots in a composite chassis for a reconfigurable robot according to the present invention;
FIG. 13 is a schematic structural diagram of the reconfigurable robot in the composite chassis for docking two robots after normal movement;
FIG. 14 is a schematic structural diagram of the reconfigurable robot when two robots in the composite chassis for the reconfigurable robot cross the obstacle after being butted;
FIG. 15 is a schematic structural diagram of the reconfigurable robot in the composite chassis for obstacle surmounting after a plurality of robots are in butt joint;
description of the main symbols: the device comprises a driving wheel 1, a deformation wheel 11, a first crawler 12, a connecting plate 20, a first motor 21, a second motor 22, a first synchronous wheel 23, a second synchronous wheel 24, a second crawler 25 and a reinforcing rib 26;
the device comprises a break-away threaded rod 3, an outer sleeve adjusting column barrel 31, a first fixing plate 4, a second fixing plate 41, a rotary base 42, a floating shaft 43, a steel ball 44, a second elastic plunger 45, a first elastic plunger 46, a first mounting frame 5, a rotating shaft 51, a first connecting frame 52, a bolt 53, a jack 531, a capture port 6, a through hole 601, a second connecting frame 61, a second mounting frame 62, a push-pull type electric latch 63 and a placing plate 64.
Detailed Description
The invention will be described in detail below with reference to the following figures and specific examples:
as shown in fig. 1 to 3, the deformable track of the present invention comprises a first crawler travel assembly and a second crawler travel assembly, the first crawler travel assembly and the second crawler travel assembly have the same structure, the first crawler travel assembly comprises a driving wheel 1, a deforming wheel 11, a first connecting rod, a second connecting rod, a first motor 21, a driving wheel shaft 2, a first track 12, a connecting plate 20 and a deforming assembly, the first motor 21 is fixedly installed on the connecting plate 20, the driving wheel shaft 2 is fixedly installed on an output shaft of the first motor 21, and the driving wheel 1 is fixedly installed on the driving wheel shaft 2, so that the driving wheel 1 can be driven to rotate by the operation of the first motor 21. The deformation assembly is fixedly installed on the connecting plate 20, one end of the first connecting rod is in transmission connection with the deformation assembly, and the other end of the first connecting rod is connected with the deformation wheel 11, so that the deformation assembly can work to drive the first connecting rod to move, and the deformation wheel 11 is driven to rotate by taking the driving wheel shaft 2 as a circle center. One end of the second connecting rod is rotatably connected with the driving wheel 1, the other end of the second connecting rod is connected with the deformation wheel 11, and the position of the deformation wheel 11 is maintained stably through the mutual matching of the first connecting rod and the second connecting rod. The first crawler belt 12 is tensioned on the driving wheel 1 and the deformation wheel 11, so that the rotation of the driving wheel 1 can drive the deformation wheel 11 to move, the travelling mechanism can move on complex terrain, and the self balance can be kept in the moving process.
The deformation assembly comprises a second motor 22, a first synchronizing wheel 23, a second synchronizing wheel 24 and a second crawler 25, wherein the second motor 22 is fixedly installed on the connecting plate 20, the first synchronizing wheel 23 is fixedly installed on an output shaft of the second motor 22, the second synchronizing wheel 24 is installed on the driving wheel shaft 2, and a bearing is installed between the second synchronizing wheel 24 and the driving wheel shaft 2, so that the rotation of the driving wheel 1 cannot drive the second synchronizing wheel 24 to rotate. The second crawler belt 25 is tensioned on the first synchronous wheel 23 and the second synchronous wheel 24, so that only the rotation of the first synchronous wheel 23 can drive the rotation of the second synchronous wheel 24, when the travelling mechanism normally moves, the second motor 22 in the deformation assembly does not work, the second motor 22 enables the second crawler belt 25 to be in a locking state, and when the second crawler belt 25 is in the locking state, the first connecting rod and the second connecting rod are also in the locking state, so that the relative positions of the driving wheel 1 and the deformation wheel 11 are kept unchanged, the deformation of the crawler belt during normal travelling is avoided, meanwhile, the first connecting rod, the second connecting rod and the second crawler belt 25 are locked, the chassis is kept in a balanced state, and the travelling mechanism can normally move conveniently.
When the second motor 22 works, the first synchronizing wheel 23 can be driven to rotate, the first synchronizing wheel 23 rotates to drive the second synchronizing wheel 24 to rotate through the second crawler belt 25, the second synchronizing wheel 24 rotates to drive the first connecting rod to rotate, and therefore the deformation wheel 11 is driven to rotate by taking the driving wheel shaft 2 as a circle center, and the obstacle crossing capability of the advancing mechanism is improved.
The structure that first connecting rod and second are connected is the same, first connecting rod includes interrupted threaded rod 3 and overcoat regulation column casing 31, the one end fixed connection of interrupted threaded rod 3 is on second synchronizing wheel 24, other end fixed connection is on deformation wheel 11, overcoat regulation column casing 31 spiro union is on interrupted threaded rod 3, adjust the elasticity that is connected between adjustable drive wheel 1 of column casing 31 and the deformation wheel 11 through rotatory overcoat, avoid first track 12 tension, can influence walking power, increase the wearing and tearing volume between each part, avoid first track 12 tension simultaneously, lead to the problem that first track 12 traveles in-process and probably drop.
As shown in fig. 4, the invention also discloses a composite chassis for a reconfigurable robot, which comprises the deformable crawler belt, a chassis, an active end, a capturing end and a floating mechanism. The chassis is provided with a microcomputer, the driving end is arranged at the front end of the chassis, and the capturing end is arranged at the rear end of the chassis. The first crawler-type traveling assembly and the second crawler-type traveling assembly are respectively arranged on two sides of the chassis, so that the robot applying the composite chassis can move on complex terrain, maintain the balance of the robot in the moving process, and can cross obstacles to continue moving when encountering the obstacles. The floating mechanism is arranged on the chassis, the floating mechanism is in transmission connection with the driving end and the capturing end, and the driving end and the capturing end are driven by the floating mechanism to rotate up and down and left and right, so that the two or more composite chassis and a robot applying the composite chassis can be conveniently butted under a complex terrain. The microcomputer is in wireless signal connection with the active end, the capturing end, the first motor 21, the second motor 22 and the floating mechanism, and the work of the active end, the capturing end, the first motor 21, the second motor 22 and the floating mechanism can be controlled through the microcomputer.
The first motor 21 is in wireless signal connection with the microcomputer, so that the microcomputer can control the work of the first motor 21, and further control the movement speed of the composite chassis.
Through the wireless signal connection of the second motor 22 and the microcomputer, the microcomputer controls the work of the second motor 22, thereby controlling the rotation direction and the speed of the deformation wheel 11 by taking the driving wheel shaft 2 as the center, and facilitating the movement of crossing the obstacle when the composite chassis encounters the obstacle.
As shown in fig. 5 to 6, the chassis includes a first fixing plate 4 and a second fixing plate 41, the second fixing plate 41 is installed on the first fixing plate 4, the driving end is installed at the front end of the second fixing plate 41, the capturing end is installed at the rear end of the second fixing plate 41, the connecting plate 20 is fixedly installed on the first fixing plate 4, a plurality of reinforcing ribs 26 are fixedly installed between the two connecting plates 20, the two connecting plates 20 are respectively and fixedly installed at the two sides of the first fixing plate 4, so that the installation of the first crawler-type traveling assembly and the second crawler-type traveling assembly is facilitated, and the stability of the whole device is enhanced by the action of the reinforcing ribs 26. The active end and the capture end are respectively arranged at the front end and the rear end of the second fixing plate 41, so that the butt joint of the composite chassis is facilitated, and the butt joint of the robot is facilitated.
The floating mechanism comprises a floating shaft 43, a rotating base 42 and a plurality of first elastic plungers 46, the rotating base 42 is fixedly installed on the second fixing plate 41, the floating shaft 43 is fixedly arranged between the first fixing plate 4 and the rotating base 42 in a penetrating mode, and a plurality of steel balls 44 are installed between the floating shaft 43 and the rotating base 42, so that the rotating base 42 and the second fixing plate 41 can rotate left and right relative to the floating shaft 43. A plurality of first elastic plungers 46 are installed between the first fixing plate 4 and the second fixing plate 41, and are circumferentially distributed around the floating shaft 43, two second elastic plungers 45 are installed on the two sides of the second fixing plate 41 of the first fixing plate 4, so that the second fixing plate 41 and the rotating base 42 can move up and down and left and right relative to the first fixing plate 4, and reset under the action of the first elastic plungers 46 and the second elastic plungers 45, and therefore when height difference or transverse difference or both height difference and transverse difference exist at the positions of two or more composite chassis and a robot applying the composite chassis, the composite chassis and the robot applying the composite chassis can still be in butt joint combination through the driving end and the capturing end, and further the butt joint requirements of the composite chassis and the robot under various complex terrain conditions are met.
As shown in fig. 7, the driving end includes a first mounting bracket 5, a steering engine, a rotating shaft 51, a first connecting bracket 52 and a bolt 53, the first mounting bracket 5 is installed at the front end of the second fixing plate 41, the steering engine is fixedly installed in the first mounting bracket 5, an output shaft of the steering engine is fixedly connected with the rotating shaft 51, two ends of the rotating shaft 51 are respectively rotated to penetrate through two sides of the first mounting bracket 5, two ends of the first connecting bracket 52 are fixedly connected with two ends of the rotating shaft 51, the bolt 53 is fixedly installed on the first connecting bracket 52, the bolt 53 is integrally designed in a flat mode, stable butt joint can be ensured, the head of the bolt 53 is designed in a gathering mode in a smooth mode, and the driving end can smoothly enter the capturing end. Through the work of steering wheel, can drive axis of rotation 51 and rotate to drive first link 52 and bolt 53 at 90 to 45 rotations on a large scale, after two robots accomplish the butt joint, can realize that the robot assembly after the butt joint warp, thereby adaptation complicated topography. And when not in use, the driving end can rotate downwards, so that the size of the chassis of the robot can be reduced, and the robot is convenient to carry. The bolt 53 is provided with a jack 531, so that the robot assembly can be conveniently locked and unlocked after being butted. The steering engine is in wireless signal connection with the microcomputer, and the microcomputer can control the operation of the steering engine, so that the use of the driving end and the deformation of the robot assembly are controlled.
As shown in fig. 8-11, the capturing end includes a capturing port 6, a second mounting frame 62, a second connecting frame 61 and a push-pull electric mortise lock 63, the second connecting frame 61 is fixedly mounted at the rear end of the second fixing plate 41, the capturing port 6 is fixedly mounted on the second connecting frame 61, the capturing port 6 is hollow and funnel-shaped, and the capturing port 6 is matched with the gathering shape design of the active end head to facilitate the docking with the active end at multiple angles. The tail part of the capturing port 6 adopts a flat wrapping design matched with the tail part of the driving end, so that the butt joint posture can be finely adjusted conveniently, two micro robots after the butt joint is finished are positioned on the same straight line, and the firmness of the assembly after the butt joint can be ensured. A through hole 601 is formed in the capturing port 6, the second mounting frame 62 is fixedly installed on the capturing port 6, the push-pull electric plug lock 63 is fixedly installed in the second mounting frame 62, and the inserted rod of the push-pull electric plug lock 63 and the through hole 601 are located on the same vertical axis, so that the inserted rod of the push-pull electric plug lock 63 can be inserted into the hollow body of the capturing port 6 through the through hole 601 in the capturing port 6. When the push-pull electric latch 63 is not energized, the plunger is inserted into the hollow body. When the docking starts, the inserted rod of the push-pull electric latch 63 descends under the action of the push-pull electric latch 63 (the inserted rod is in a retracted state) as the active end is inserted into the capturing port 6, and as the docking progresses, when the whole plug pin 53 of the active end is completely inserted into the hollow body of the capturing port 6, the insertion hole 531 of the plug pin 53 just moves to the position of the through hole 601 on the capturing end; at this time, the inserted rod is directly inserted into the insertion hole 531 in the front of the active end due to the use of the push-pull electric mortise lock 63, so that the capturing end and the active end are firmly locked, and at the same time, the capturing end and the active end are also locked while the butt joint is completed. When the combined robot is to be separated, the push-pull electric mortise lock 63 is powered on, the inserted rod is received in the push-pull electric mortise lock, the combined body is unlocked, and at the moment, one of the two micro robots is given an initial speed, so that the separation of the two micro robots can be easily realized.
One side of second mounting bracket 62 is provided with places board 64, places and is provided with the two-dimensional code on the board 64, and the head of taking the initiative is gone up and is carried with two mesh cameras, and two mesh cameras when discerning the two-dimensional code of placing on the board 64, the head of taking the initiative robot just can automatic planning butt joint route accomplish full autonomic butt joint.
The application method of the embodiment comprises the following steps: starting a microcomputer, controlling the microcomputer to start a first motor 21, enabling the first motor 21 to drive a driving wheel 1 to rotate, enabling the driving wheel 1 to rotate to drive a first crawler belt 12 to rotate, thereby driving the composite chassis and a robot applying the composite chassis to move on a complex terrain, when an obstacle is encountered, starting a second motor 22, enabling a second motor 22 to drive a first synchronous wheel 23 to rotate, enabling the first synchronous wheel 23 to rotate to drive a second crawler belt 25 to rotate, enabling the second crawler belt 25 to rotate to drive a second synchronous wheel 24 to rotate, enabling the second synchronous wheel 24 to rotate to drive a first connecting rod to rotate by taking a driving wheel shaft 2 as a circle center, thereby adjusting the relative position of a deformation wheel 11 and the driving wheel 1, and enabling the composite chassis and the robot to cross the obstacle under the action of the driving wheel 1;
when the composite chassis and the robot need to be in butt joint, the rescue capability and the obstacle crossing capability of the robot are improved, the binocular cameras are started, the binocular cameras are enabled to search the two-dimensional codes on the adjacent robots, when the binocular camera of the next micro-robot searches the two-dimensional code of the previous robot, the microcomputer carried on the composite chassis controls the next robot to automatically plan a butt joint path, when the two robots are in butt joint, the inserted rod of the push-pull electric lock 63 descends under the action of the push-pull electric lock 63 (the inserted rod is in a retracted state) along with the insertion of the bolt 53 on the active end of the next robot into the capturing port 6, and along with the butt joint, when the bolt 53 of the whole active end is completely inserted into the hollow body of the capturing port 6, the insertion hole 531 of the bolt 53 moves to the position of the through hole 601 on the capturing end; at the moment, the inserted rod is directly inserted into the inserting hole 531 in the front of the driving end due to the use of the push-pull electric mortise lock 63, so that the capturing end and the driving end are firmly locked, the capturing end and the driving end are also locked while the butt joint is completed, two or more robots are fixedly connected to form a robot assembly, the rescue capacity of the robot is improved, the obstacle crossing capacity of the robot is improved, and the robot assembly can adapt to different complex terrains.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims. The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (10)
1. A deformable track, characterized by: the crawler type traveling assembly comprises a first crawler type traveling assembly and a second crawler type traveling assembly, wherein the first crawler type traveling assembly comprises a driving wheel, a deformation wheel, a first connecting rod, a second connecting rod, a first motor, a driving wheel shaft, a first crawler, a connecting plate and a deformation assembly, the first motor is fixedly installed on the connecting plate, the driving wheel shaft is fixedly installed on an output shaft of the first motor, the driving wheel is fixedly installed on the driving wheel shaft, the deformation assembly is fixedly installed on the connecting plate, one end of the first connecting rod is in transmission connection with the deformation assembly, the other end of the first connecting rod is connected with the deformation wheel, one end of the second connecting rod is in rotation connection with the driving wheel, the other end of the second connecting rod is connected with the deformation wheel, and the first crawler is tensioned on the driving wheel and the deformation wheel.
2. A deformable track as claimed in claim 1, wherein: the deformation assembly comprises a second motor, a first synchronizing wheel, a second synchronizing wheel and a second crawler belt, the second motor is fixedly installed on the connecting plate, the first synchronizing wheel is fixedly installed on an output shaft of the second motor, the second synchronizing wheel is installed on a driving wheel shaft, a bearing is installed between the second synchronizing wheel and the driving wheel shaft, and the second crawler belt is tensioned on the first synchronizing wheel and the second synchronizing wheel.
3. A deformable track as claimed in claim 2, wherein: the structure that first connecting rod and second are connected is the same, first connecting rod includes interrupt formula threaded rod and overcoat regulation column casing, the one end fixed connection of interrupt formula threaded rod is on the second synchronizing wheel, and other end fixed connection is on the deformation wheel, overcoat regulation column casing spiro union is on interrupt formula threaded rod.
4. A reconfigurable composite chassis for robots, characterized in that: use of a deformable track as claimed in any one of claims 1 to 3.
5. The composite chassis for a reconfigurable robot according to claim 4, wherein: the crawler type traveling assembly and the crawler type traveling assembly are arranged on the two sides of the chassis respectively, the floating mechanism is arranged on the chassis, the floating mechanism is in transmission connection with the driving end and the capturing end, and the microcomputer is in wireless signal connection with the driving end, the capturing end, the first motor, the second motor and the floating mechanism.
6. The composite chassis for a reconfigurable robot according to claim 5, wherein: the chassis comprises a first fixing plate and a second fixing plate, the second fixing plate is installed on the first fixing plate, the driving end is installed at the front end of the second fixing plate, the capturing end is installed at the rear end of the second fixing plate, and the connecting plate is fixedly installed on the first fixing plate.
7. The composite chassis for a reconfigurable robot according to claim 6, wherein: the floating mechanism comprises a floating shaft, a rotating seat and a plurality of first elastic plungers, the rotating seat is fixedly installed on the second fixing plate, the floating shaft penetrates through the space between the first fixing plate and the rotating seat, a plurality of steel balls are installed between the floating shaft and the rotating seat, and the first elastic plungers are installed between the first fixing plate and the second fixing plate and are circumferentially distributed around the floating shaft.
8. The composite chassis for a reconfigurable robot according to claim 7, wherein: two second elastic plungers are installed on the two sides of the first fixing plate and the second fixing plate respectively.
9. The composite chassis for a reconfigurable robot according to claim 8, wherein: the driving end comprises a first mounting frame, a steering engine, a rotating shaft, a first connecting frame and a bolt, the first mounting frame is mounted at the front end of a second fixing plate, the steering engine is fixedly mounted in the first mounting frame, an output shaft of the steering engine is fixedly connected with the rotating shaft, two ends of the rotating shaft are respectively rotated to penetrate through two sides of the first mounting frame, the first connecting frame is fixedly connected with two ends of the rotating shaft, the bolt is fixedly mounted on the first connecting frame, a jack is formed in the bolt, and the steering engine is connected with a microcomputer through wireless signals.
10. The composite chassis for a reconfigurable robot according to claim 9, wherein: catch end including catching port, second mounting bracket, second link and plug-type electric mortiser lock, second link fixed mounting is in the rear end of second fixed plate, catch port fixed mounting on the second link, it leaks hopper-shaped to catch the port to be cavity, catch and seted up the through-hole on the port, second mounting bracket fixed mounting is on catching the port, plug-type electric mortiser lock fixed mounting is in the second mounting bracket, the inserted bar of plug-type electric mortiser lock is located same vertical axis with the through-hole, one side of second mounting bracket is provided with places the board, it is provided with the two-dimensional code on the board to place.
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| CN114734467B (en) * | 2022-05-24 | 2024-07-19 | 重庆大学 | Reconfigurable group robot finger control platform and obstacle surmounting control method |
| CN114954712A (en) * | 2022-06-02 | 2022-08-30 | 江苏迈吉易威电动科技有限公司 | Wheel hub motor crawler wheel with gait control function |
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