CN113492935A

CN113492935A - Search and rescue robot suitable for complicated topography

Info

Publication number: CN113492935A
Application number: CN202110770711.7A
Authority: CN
Inventors: 李世其; 王海鹏; 赵迪; 王树泽; 于军
Original assignee: Huazhong University of Science and Technology
Current assignee: Huazhong University of Science and Technology
Priority date: 2021-07-08
Filing date: 2021-07-08
Publication date: 2021-10-12
Anticipated expiration: 2041-07-08
Also published as: CN113492935B

Abstract

The invention belongs to the technical field of robots, and discloses a search and rescue robot suitable for complex terrains, which comprises a box body, two groups of front planetary wheel sets and two groups of rear planetary wheel sets, wherein: the two groups of front planetary wheel sets are symmetrically arranged on the left side and the right side of the front part of the box body, the two groups of rear planetary wheel sets are symmetrically arranged on the left side and the right side of the rear part of the box body, the front planetary wheel set and the rear planetary wheel sets respectively comprise a driving motor, a gear box and a planetary wheel, the gear box is of an equilateral triangle box body structure, three corners are respectively connected with the planetary wheel, a gear is arranged in the gear box, a rotating shaft of the planetary wheel is meshed with the gear, and an output shaft of the driving motor is connected with an input shaft of the gear box; the rear planetary wheel set further comprises a steering motor, a driving gear and a driven gear, the driven gear is fixed on a gear box of the rear planetary wheel set, the driving gear is arranged on an output shaft of the steering motor of the rear planetary wheel set, and the driving gear is meshed with the driven gear. The robot has higher obstacle crossing capability and is very beneficial to the application of complex terrains.

Description

Search and rescue robot suitable for complicated topography

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a search and rescue robot suitable for complex terrains.

Background

In rescue work of accidents such as earthquakes and fires, the complexity and the danger of a search and rescue site are often high, rescue workers directly enter a dangerous environment to carry out rescue work and are often required to face very high risks, so that the search and rescue robot can replace the rescue workers to enter the dangerous site to carry out situation exploration, wounded search and rescue and other work, the danger of the rescue workers can be effectively reduced, and the search and rescue robot is widely researched in recent years.

The terrain conditions of disaster sites are often complex, and the search and rescue robot is required to have higher obstacle crossing capability and higher stability under different terrain conditions. The current search and rescue robots are mainly wheel type, crawler type, foot type and bionic type. The crawler-type obstacle-surmounting robot has the advantages of large supporting area, small subsidence degree, strong terrain adaptability, complex structure, large mass and low energy utilization rate; the foot type obstacle crossing robot has flexible motion and strong terrain adaptability, but has lower load bearing ratio and complex structure and control, and the gait control algorithm of the foot type obstacle crossing robot cannot meet the motion requirement under the condition of complex terrain; bionic robots, such as snake-shaped robots, are currently only applied to specific tasks or specific terrain conditions, and are not highly versatile. The wheel type robot has the advantages of simple structure, convenience in control, high load ratio and high energy efficiency, has absolute advantages compared with other kinds of robots when the robot is loaded and travels on a flat road, but has poor obstacle crossing performance under rugged terrain, and is the most studied robot.

Chinese patent CN109911052A proposes a wheel-leg composite robot, which considers both fast sliding on a flat ground and obstacle avoidance capability in a complex environment through switching of wheel-leg modes, but the mode switching needs manual work, and the gait control algorithm of the leg robot is not mature at present. Chinese patent CN105035204A proposes another wheel-leg combined type mobile robot, in which the leg has only one degree of freedom, and can cross obstacles by swinging, but the wheel diameter is large, the leg weight is heavy, and large motor power is required for swinging, but it still needs remote control operation of people, and it cannot make autonomous judgment according to the self-movement under the terrain condition. Chinese patent CN101890986A proposes a six-wheel mechanism, in which four wheels are fixed, and two other wheels swing, similar to the swing arm of a tracked robot, and has good terrain adaptability, but this patent also faces the problem of being unable to be controlled autonomously, and needs active participation of people in the obstacle crossing process, and is unable to make autonomous adaptive movement to the terrain. Chinese patent CN106892014B proposes a planetary wheel type obstacle crossing robot, all adopt four sets of planet wheel structures, can make adaptive motion to various terrains, however, when striding over higher single step or multistage step, the rotation of back planet wheel driving motor is whole to be converted into the rotation of steamboat, the planet carrier that the preceding planet wheel is difficult to provide sufficient pulling force again makes the back planet wheel rotates, the result is this kind of structure often only the preceding planet wheel can climb the step, the back planet wheel can't climb the step. Chinese patent CN205632713U proposes an active planetary gear train obstacle crossing robot chassis, in which the transmission mechanism adopts a shaft sleeve shaft structure to realize active turning of the planetary gear, and has higher obstacle crossing capability, but the transmission mechanism uses a large number of bevel gear transmission mechanisms, and the transmission mechanism is too complex, and the use stability is difficult to guarantee.

Disclosure of Invention

In view of the above defects or improvement requirements of the prior art, the invention provides a search and rescue robot suitable for complex terrains, which has higher obstacle crossing capability and is very beneficial to the application of complex terrains.

To achieve the above object, according to one aspect of the present invention, there is provided a search and rescue robot suitable for complex terrain, the robot including a casing, two sets of front planetary gear sets, and two sets of rear planetary gear sets, wherein: the front planetary wheel sets and the rear planetary wheel sets respectively comprise a driving motor, a gear box and a planetary wheel, the gear box is of an equilateral triangle box structure, three corners of the gear box are respectively connected with a planetary wheel, a gear is arranged in the gear box, a rotating shaft of the planetary wheel is meshed with the gear, and an output shaft of the driving motor is connected with an input shaft of the gear box and is used for driving the gear to rotate so as to drive the planetary wheel to rotate; the rear planetary wheel set further comprises a steering motor, a driving gear and a driven gear, the driven gear is fixed on a gear box of the rear planetary wheel set, the driving gear is arranged on an output shaft of the steering motor of the rear planetary wheel set, and the driving gear is meshed with the driven gear so as to achieve rotation of the gear box of the rear planetary wheel set.

Preferably, the gear box includes a main gear and three pinions, the three pinions are uniformly distributed around the main gear and meshed with the main gear, the rotating shaft of the planet gear is meshed with the pinions, and the rotating shaft of the main gear is connected with the output shaft of the driving motor.

Preferably, a clutch structure is arranged between the rotating shaft of the secondary gear and the rotating shaft of the main gear, and when the planet wheels meshed with the secondary gear are separated from the ground, the secondary gear and the main gear are in a clutch state.

Preferably, the clutch structure is a spring, and the elastic force of the spring is determined according to the gravity of the box body, so that the spring is compressed under the gravity of the box body, and a pinion engaged with a corresponding grounded planet gear is engaged with the main gear.

Preferably, the box includes preceding box and back box, rigid connection between preceding box and the back box, preceding planet wheel group is located on the preceding box, back planet wheel group is located on the back box.

Preferably, the robot further comprises a control unit for controlling the operation of the driving motor and the steering motor in the rear planetary gear set.

Preferably, the robot further comprises a displacement monitoring unit, the displacement monitoring unit is connected with the control unit and used for monitoring the displacement of the box body in real time, and when the displacement of the box body is monitored to be zero, the steering motor is started to work.

Generally, compared with the prior art, the search and rescue robot suitable for the complex terrain provided by the invention has the following beneficial effects:

1. in the application, the rotating wheels of the robot all adopt the planet wheels, the whole rotation of the planet wheel set can span small obstacles, and when large obstacles are met, the planet wheel set can slip, and the rotating motor is arranged to provide large power for the rotation of the planet wheels to push the whole robot to span large obstacles;

2. a clutch structure is arranged between a main gear and an auxiliary gear in the gear box, so that the planet wheel which is not in contact with the ground is in a clutch state, the idle running of the planet wheel can not occur, the energy is saved, and the damage to surrounding objects due to the rotation of the suspended planet wheel is reduced;

3. the clutch structure is preferably a spring, the structure is simple, the weight of the robot is not additionally increased, and the clutch structure is easy to realize;

4. the control unit and the displacement monitoring unit in this application can be accurate the drive unit of control and the motion of rotation unit for both alternate motion can carry out accurate control to the mode of operation of robot.

Drawings

Fig. 1 is a schematic structural diagram of a search and rescue robot suitable for complex terrains in the embodiment;

FIG. 2 is a schematic structural diagram of a front planetary gear set in the present embodiment;

FIG. 3 is a schematic structural view of the rear planetary gear set on the right side in the present embodiment;

FIG. 4 is a schematic structural view of the rear planetary gear set on the left side in the present embodiment;

FIG. 5A is a schematic view showing a state where the front planetary gear set contacts the first step in the present embodiment;

FIG. 5B is a schematic view showing the front planetary gear set in the present embodiment in a state of being flipped over to the first step;

FIG. 5C is a schematic view showing the front planetary gear set contacting the second step in the present embodiment;

FIG. 5D is a schematic view showing a state where the front planetary gear set has climbed over the second step in the present embodiment

Fig. 5E is a schematic state diagram of the search and rescue robot suitable for complex terrain successfully climbing over the first-stage step in this embodiment.

The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:

100-a box body; 110-a front box; 120-rear box body; 200-front planetary gear set; 300-rear planetary gear set; 210, 310-drive motor; 220, 320-gearbox; 230, 330-planets; 340-a steering motor; 350-a drive gear; 360-driven gear.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Referring to fig. 1, the present invention provides a search and rescue robot suitable for complex terrains, which includes a box 100, two front planetary gear sets 200, and two rear planetary gear sets 300.

The two front planetary gear sets 200 are symmetrically disposed at left and right sides of the front portion of the case 100, and the two rear planetary gear sets 300 are symmetrically disposed at left and right sides of the rear portion of the case 100. As shown in fig. 2 to 4, each of the front planetary gear set 200 and the rear planetary gear set 300 includes a

driving motor

210, 310, a

gear box

220, 320 and a

planetary gear

230, 330, the

gear box

220, 320 is an equilateral triangle box structure, three corners of the gear box are respectively connected to the

planetary gear

230, 330, a gear is disposed inside the

gear box

220, 320, a rotating shaft of the

planetary gear

230, 330 is engaged with the gear, and an output shaft of the

driving motor

210, 310 is connected to an input shaft of the

gear box

220, 320, and is configured to drive the gear to rotate so as to drive the

planetary gear

230, 330 to rotate.

The

gear box

220, 320 includes a main gear and three pinions inside, the three pinions are uniformly distributed around the main gear and meshed with the main gear, the rotating shaft of the planet gear is meshed with the pinions, and the rotating shaft of the main gear is connected with the output shaft of the

driving motor

210, 310. When a small obstacle is encountered, the

planet wheels

230, 330 in direct contact with the obstacle will be jammed and will not rotate any more, and correspondingly the rotation of the main gear will be blocked and the rotation of the

drive motor

210, 310 will be translated into rotation of the

corresponding gearbox

220, 320.

A clutch structure is arranged between the rotating shaft of the pinion and the rotating shaft of the main gear, and when the planet wheel meshed with the pinion is separated from the ground, the pinion and the main gear are in a clutch state.

Further preferably, the clutch structure is a spring, and the elastic force of the spring is determined according to the gravity of the box body, so that the spring is compressed under the gravity of the box body, and a pinion engaged with the corresponding grounded planet gear is engaged with the main gear.

The casing 100 may also be designed in segments, for example, including a front casing 110 and a rear casing 120, the front casing 110 and the rear casing 120 are rigidly connected to each other so that the rear casing 120 can output force to the front casing 110, the front planetary gear set 200 is disposed on the front casing 110, and the rear planetary gear set 300 is disposed on the rear casing 120.

The rear planetary gear set 300 further comprises a steering motor 340, a driving gear 350 and a driven gear 360, wherein the driven gear 360 is fixed on the gear box 320 of the rear planetary gear set 300, the driving gear 350 is arranged on an output shaft of the steering motor 340 of the rear planetary gear set 300, the driving gear 350 is meshed with the driven gear 360, and then the rotation of the gear box 320 of the rear planetary gear set 300 is realized.

The robot further includes a control unit for controlling operations of the driving motor 310 and the steering motor 340 of the rear planetary gear set 300.

The robot further comprises a displacement monitoring unit, the displacement monitoring unit is connected with the control unit and used for monitoring the displacement of the box body 100 in real time, when the displacement of the box body 100 is monitored to be zero, the robot is indicated to skid, and the steering motor 340 is started to work at the moment.

The rear planetary gear set 300 may implement two modes of motion, a passive mode and an active mode. In the passive mode, the driving motor 310 rotates and the steering motor 340 does not rotate. The rotation of the drive motor 310 is transmitted to the planetary gear 330 through the gear box 320. When a small obstacle is encountered, the movement of the planet wheels 330 is blocked, and the rotation of the driving motor 310 is converted into the integral rotation of the gear box 320. In the active mode, the driving motor 310 does not rotate, the steering motor 340 rotates, the rotation of the steering motor 340 is transmitted to the gear box 320 through the driving gear 350 and the driven gear 360, and the gear box 320 is directly driven to rotate integrally, and since the size of the gear box 320 is far larger than that of the planet wheel 330, a higher obstacle can pass through.

The robot in this application is particularly useful for the multi-step road condition, as shown in fig. 5A, in the first stage, the front planetary gear set 200 contacts the first step, the height of the step is greater than the diameter of the planetary gear 230, and the step cannot pass by itself, at this time, the rear planetary gear set 300 provides the driving force in the passive mode, and assists the front planetary gear set 200 to cross the first step, as shown in fig. 5B. In the process of continuing to move forward, the front planetary gear set 200 contacts the second step, as shown in fig. 5C, the same rear planetary gear set 300 provides driving force in the passive mode, assists the front planetary gear set 200 to climb over the second step, at this time, the rear planetary gear set 300 contacts the first step, and automatically climbs over the first step in the active mode, as shown in fig. 5D, and simultaneously drives the front planetary gear set 200 to climb over the second step, at this time, the robot has successfully climbed over the first step, as shown in fig. 5E, and the obstacle crossing operation of the multiple steps can be realized by repeating the above steps.

In conclusion, the four-planetary-gear structure is adopted, the front planetary-gear set adopts a single-motor control mode, and the rows move passively according to terrain conditions and the current movement condition of the robot. The rear planetary wheel set adopts a double-motor control mode, can passively move and also actively turn over according to terrain conditions and the current motion state of the robot, so that the robot can take higher terrain trafficability into consideration, and the robot is simple in structure, high in flexibility and very suitable for commercial application.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a search for and rescue robot suitable for complicated topography which characterized in that, the robot includes box, two sets of preceding planetary gear sets and two sets of back planetary gear sets, wherein:

the front planetary wheel sets and the rear planetary wheel sets respectively comprise a driving motor, a gear box and a planetary wheel, the gear box is of an equilateral triangle box structure, three corners of the gear box are respectively connected with a planetary wheel, a gear is arranged in the gear box, a rotating shaft of the planetary wheel is meshed with the gear, and an output shaft of the driving motor is connected with an input shaft of the gear box and is used for driving the gear to rotate so as to drive the planetary wheel to rotate;

the rear planetary wheel set further comprises a steering motor, a driving gear and a driven gear, the driven gear is fixed on a gear box of the rear planetary wheel set, the driving gear is arranged on an output shaft of the steering motor of the rear planetary wheel set, and the driving gear is meshed with the driven gear so as to achieve rotation of the gear box of the rear planetary wheel set.

2. The robot as claimed in claim 1, wherein the gear box includes a main gear and three sub-gears inside, the three sub-gears are uniformly distributed around the main gear and meshed with the main gear, the rotation shafts of the planetary gears are meshed with the sub-gears, and the rotation shaft of the main gear is connected with the output shaft of the driving motor.

3. The robot of claim 2, wherein a clutch structure is provided between the rotating shaft of the secondary gear and the rotating shaft of the main gear, and the secondary gear is in a clutch state with the main gear when the planet gear engaged with the secondary gear is off the ground.

4. A robot according to claim 3, characterized in that the clutch structure is a spring, the spring force of which is determined by the weight of the housing, so that under the weight of the housing the spring is compressed and the corresponding pinion engaged by the grounded planet wheel meshes with the main gear.

5. The robot of claim 1, wherein the box body comprises a front box body and a rear box body, the front box body and the rear box body are rigidly connected, the front planetary gear set is arranged on the front box body, and the rear planetary gear set is arranged on the rear box body.

6. The robot of claim 1, further comprising a control unit for controlling operation of the drive motors and steering motors in the rear planetary gear set.

7. The robot of claim 6, further comprising a displacement monitoring unit, wherein the displacement monitoring unit is connected with the control unit and is used for monitoring the displacement of the box body in real time, and when the displacement of the box body is monitored to be zero, the steering motor is started to work.