CN1715121A - Dangerous operation robot with wheel-leg-crawler combined moving mechanism - Google Patents
Dangerous operation robot with wheel-leg-crawler combined moving mechanism Download PDFInfo
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- CN1715121A CN1715121A CN 200410020856 CN200410020856A CN1715121A CN 1715121 A CN1715121 A CN 1715121A CN 200410020856 CN200410020856 CN 200410020856 CN 200410020856 A CN200410020856 A CN 200410020856A CN 1715121 A CN1715121 A CN 1715121A
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- wheel
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- crawler
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- 230000007246 mechanism Effects 0.000 title claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- 150000001875 compounds Chemical class 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 4
- 230000009194 climbing Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 2
- 230000007613 environmental effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 14
- 230000003044 adaptive effect Effects 0.000 description 6
- 239000002131 composite material Substances 0.000 description 4
- 230000006378 damage Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000002360 explosive Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 239000000383 hazardous chemical Substances 0.000 description 2
- 231100000331 toxic Toxicity 0.000 description 2
- 230000002588 toxic effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000005283 ground state Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
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Abstract
The invention discloses a dangerous operation robot with a wheel-leg-crawler combined moving mechanism. The four-wheel four-swing mechanism comprises four swing legs, two main tracks, four auxiliary tracks, four belt wheels and a moving body, wherein the two diagonal mechanisms are completely the same; the two walking driving motors respectively transmit the rotation to the four belt wheel rotating shafts and the four auxiliary tracks through the belt wheel transmission gears and the two main tracks, and drive the four wheels to rotate through the wheel transmission gears; the two leg swing driving motors drive the four leg swings up and down through the two pairs of leg swing rotating gears and the two leg swing rotating shafts. The invention can realize the functions of advancing, retreating, left-right steering, climbing and the like on flat ground and relatively flat ground; particularly, the track moving mode and the wheel moving mode can be switched according to the environmental ground condition in the moving process of the robot, so that the dangerous operation robot can reach the designated operation place as soon as possible.
Description
Technical field
The invention belongs to the Robotics field, is a kind of dangerous school assignment robot with wheel-leg-crawler composite moving mechanism specifically.
Background technology
Realize that world peace is people's the maximum hope of loving peace, people have carried out arduous and unremitting effort in order to realize world peace, have also paid huge cost for this reason.
Because various complicated factors, many terrorist incident and vicious criminal cases of realizing world peace of stopping happen occasionally, and cause a large amount of zivile Opfers and huge property economic loss.Particularly many professional and technical personnel are when handling hazardous materials (explosive and toxic and harmful etc.) operation, and blast often thing or toxic and harmful damage the professional and technical personnel.In order to reduce the loss and to avoid unnecessary personnel's injury, all at research and the advanced technical equipment of outfit, dangerous school assignment robot has just become to undertake one of various pioneering technologys equipments of this mission to world many countries.This is because the alternative policeman of dangerous school assignment robot removes to finish multiple dangerous operation in the hazardous location, as detects, gets rid of explosive, carrying or destruction hazardous materials etc.Robot, more and more is subjected to the explosion-proof expert of various countries' anti-terrorism and is engaged in dangerous work personnel's attention along with the development and perfection of each unit and overall technology as high-tech product, and multiple dangerous school assignment robot is successively studied, developed in various countries.
Because dangerous school assignment robot mostly uses in the non-structure environment of complexity, as the ground that is uneven, obstacle, climbing, stair activity etc., therefore, require dangerous school assignment robot should have adaptive capacity to environment and terrain trafficability preferably.Dangerous school assignment robot has many kinds now, aspect travel mechanism, mostly adopts crawler belt or crawler belt and leg composite type.The explosion prevention robot that the development police of U.S. REMOTEC company use is that crawler belt and leg complex form dangerous school assignment robot are more representative a kind of, and it is in the service of the U.S. police, and alternative policeman goes to finish dangerous operation tasks such as eliminating explosive; France has developed the multiple robot that is used for the dangerous operations such as detection, carrying and destruction of dangerous explosive.In these robots, travel mechanism mostly adopts two kinds of forms, and what a kind of mobile robot travel mechanism adopted is pure crawler type; What another kind mobile robot travel mechanism adopted is crawler belt--leg combined (seeing " robot world " of " Henan science tech publishing house " 2000.6 editions societies for details).Crawler type travel mechanism is a dangerous school assignment robot travel mechanism commonly used, has certain complex environment adaptive capacity, but obstacle detouring, limited in one's ability aspect ditch and the stair activity more, if want to improve this three aspects ability, must strengthen the overall dimensions of robot, bring certain difficulty like this, just for actual the use.Crawler belt-leg combined travel mechanism also is a kind of travel mechanism commonly used of dangerous school assignment robot, has stronger complex environment adaptive capacity, though, at obstacle detouring, more the ability aspect ditch and the stair activity is better than single-unit crawler type travel mechanism, but, all be to move with crawler belt to be main mode of motion because it is the same with crawler type travel mechanism.Therefore, in moving on the level land with than plane earth, exist that mobile efficient is low, power consumption is big and shortcoming such as alerting ability is not enough.
Summary of the invention
The objective of the invention is to propose a kind of can the use at the environment complicated, changeable, that obstacle or stair are arranged, function and performance are better than the dangerous operation device people of the novel wheel the-leg-crawler compound type travel mechanism of pure crawler type and crawler belt-leg combined travel mechanism.
Technical scheme of the present invention is:
Have four swinging kicks, main crawler belt, auxiliary crawler belt, mobile body, one end of described four swinging kicks is equipped with wheel, main crawler belt is installed on the mobile body by belt wheel, and auxiliary crawler belt one end is installed on the mobile body by belt wheel, and the other end links to each other by four swinging kicks of guide wheel and difference; Described mobile body diagonal constitutes the identical walking of structure and swing two parts respectively; Wherein: crawler body comprises travel driving motor, the output shaft of described travel driving motor and the first belt wheel transmission gear are connected, the described first belt wheel transmission gear is meshed with the second belt wheel transmission gear on being connected in the belt wheel turning cylinder, axle one end and the belt wheel turning cylinder of first belt wheel are installed together, the other end and the first wheel transmission gear are connected, the first wheel transmission gear is meshed with the second wheel transmission gear, the sub-transmission gear of third round, and sub-transmission gear of third round and wheel are affixed; First belt wheel links to each other with swinging kick by auxiliary crawler belt and guide wheel;
Described swinging kick partly comprises the swinging kick drive motor, the output shaft of swinging kick drive motor and the first swinging kick arm revolving gear are connected, the first swinging kick arm revolving gear is meshed with the second swinging kick arm revolving gear, the second swinging kick arm revolving gear connects firmly on the swinging kick turning cylinder, and the swinging kick turning cylinder passes second belt wheel and the sub-transmission gear of four-wheel and swinging kick successively and is connected; The sub-transmission gear of four-wheel is meshed with the 5th wheel transmission gear, the 6th wheel transmission gear, and the 6th wheel transmission gear and wheel are affixed; Second belt wheel links to each other with swinging kick by auxiliary crawler belt and guide wheel;
Described belt wheel is two parts unitized construction of different size, and wherein the part that size is big is positioned at the inboard, connects with main crawler belt between body homonymy two belt wheels; The part that size is little is positioned at the outside, links to each other with guide wheel by auxiliary crawler belt; Described anterior two swinging kicks and two swinging kicks in rear portion all are that same-phase is installed in the horizontal direction; Described four wheels is located in the same plane with four auxiliary crawler belts respectively.
The present invention has following advantage:
1, because the present invention has adopted novel wheel the-leg-crawler composite moving mechanism, make robot have fully independently crawler belt move mode and wheeled move mode, avoided in the past that two kinds of move modes can not independently use the mutual interference problem of the motion that is brought, and can bring into play each its chief of two kinds of move modes.Particularly crawler belt move mode and wheel move mode can switch mutually according to the environment surface state in robot motion's process, make this dangerous school assignment robot arrive the assignment place as early as possible.
2, alerting ability is good.Because the wheel motion can be independent of caterpillar drive, therefore, has improved robot motion's of the present invention alerting ability.Be embodied in: the present invention can rotate simultaneously by a main crawler belt of travel driving motor drive machines people homonymy, two auxiliary crawler belts and two wheels; Can swing up and down simultaneously by two swinging kicks of the anterior left and right sides of swinging kick drive motor drive machines people, wheel is swung up and down simultaneously.Control by to wheel, leg can make wheel be in the state of landing, and the move mode that makes robot is moved by crawler belt and becomes wheeled moving, and wheeled move mode is adapted at the level land and uses than plane earth.At this moment, this dangerous school assignment robot can realize advancing, retreat, about turn to, function such as climbing.
3, the present invention adopt the wheel touchdown point to the distance at swinging kick rotating shaft center greater than rotating shaft centre distance (the two the rotating shaft center identical) structure of crawler belt touchdown point to belt wheel, improved the ground adaptive capacity of robot.
4, the present invention designs wheel and four auxiliary crawler belts in same plane, has reduced the integral width of robot, helps improving robot carrying capacity and adaptive capacity.
5, the present invention passes the swinging kick turning cylinder from robot body inside, makes four swinging kick slewing areas increase, and can be the vertical ground state, has greatly reduced the turn radius of robot.
6, mobile efficient height.Owing to adopted gear transmission between wheel of the present invention and the belt wheel, and be the speedup transmission, the kinematic velocity the when kinematic velocity when making robot adopt wheel to move moves greater than the employing crawler belt has improved robot greatly on the level land, than the mobile efficient on level land.
7. low in energy consumption.Because belt wheel of the present invention is two parts unitized construction of different size, wherein the part that size is big is positioned at the inboard, and is therefore low in energy consumption than crawler belt travel mechanism in the past, saves the energy.
Description of drawings
Fig. 1 is a structural representation of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples mechanism of the present invention and principle are described further.
Mechanism of the present invention constitutes as shown in Figure 1, and it mainly has four swinging kick T, two main crawler belt L
1, four auxiliary crawler belt L
2, four wheels LZ and mobile body BT; One end of described four swinging kicks is equipped with wheel LZ, main crawler belt L
1Be installed on the mobile body BT auxiliary crawler belt L by belt wheel D
2One end is installed on the mobile body BT by belt wheel D, and the other end links to each other with four swinging kick T respectively by guide wheel DL; Described mobile body BT diagonal constitutes the identical walking of structure and swing two parts respectively; Wherein:
Crawler body (constitute the identical two parts of structure respectively in mobile body BT diagonal, promptly lower-left, upper right two parts are that example is illustrated with a part now):
Crawler body of the present invention comprises travel driving motor M
1, its output shaft and the first belt wheel transmission gear DC
11Be connected the first belt wheel transmission gear DC
11Be connected in belt wheel turning cylinder Z
1On the second belt wheel transmission gear DC
12Be meshed; The first belt wheel D
11Axle one end and belt wheel turning cylinder Z
1Be installed together the other end and the first wheel transmission gear LC
11Be connected the first wheel transmission gear LC
11With the second wheel transmission gear LC
12, the sub-transmission gear LC of third round
13Be meshed the sub-transmission gear LC of third round
13Affixed with a wheel LZ; The first belt wheel D
11By auxiliary crawler belt L
2And guide wheel links to each other with a swinging kick T.
The swinging kick part (in mobile body BT diagonal, constitute the identical two parts of structure respectively, promptly upper left, bottom right two parts, existing is that example is illustrated with a part):
Swinging kick of the present invention partly comprises swinging kick drive motor M
2, its output shaft and the first swinging kick arm revolving gear BC
11Be connected the first swinging kick arm revolving gear BC
11With the second swinging kick arm revolving gear BC
12Be meshed the second swinging kick arm revolving gear BC
12Connect firmly at swinging kick turning cylinder Z
2On, swinging kick turning cylinder Z
2One end passes the first belt wheel D successively
11And the first wheel transmission gear LC
11Be connected with a swinging kick T; The other end passes the second belt wheel D successively
22And the sub-transmission gear LC of four-wheel
21T is connected with another swinging kick; The sub-transmission gear LC of four-wheel
21With the 5th wheel transmission gear LC
22, the 6th wheel transmission gear LC
23Be meshed the 6th wheel transmission gear LC
23LZ is affixed with another wheel; The second belt wheel D
22By auxiliary crawler belt L
2And guide wheel DL links to each other with another swinging kick T.
Belt wheel of the present invention is two parts unitized construction of different size, and wherein the part that size is big is positioned at the inboard, between mobile body BT homonymy two belt wheels with main crawler belt L
1Connect; The part that size is little is positioned at the outside, by auxiliary crawler belt L
2DL links to each other with guide wheel.
The most preferred embodiment explanation:
The present invention proves that through exercise performance and breadboard the motion principle of robot and design conclusion are correct.The danger Work robot that promptly adopts the present invention to develop, have independently wheeled and the crawler type move mode, in the presence of swinging kick T motion, the adaptive capacity of non-structure environment and various ground-surface carrying capacity are better than existing danger Work robot, have demonstrated fully the whole advantages of the present invention.
Motion principle of the present invention is as follows:
As two the travel driving motor M in diagonal angle
1Simultaneously, during equidirectional rotation, two travel driving motor M
1By the first～two belt wheel transmission gear DC
11, DC
12, will rotate and pass to two belt wheel turning cylinder Z respectively
1, make two first belt wheel D of diagonal
11Simultaneously, equidirectional rotation, drive two main crawler belt L simultaneously
1, two second belt wheel D
22, four auxiliary crawler belt L
2Rotate, at this moment, robot movement body BT can forward-reverse; As two the travel driving motor M in diagonal angle
1When different directions rotates, about can realizing, robot movement body BT turns to and pivot stud simultaneously.As diagonal angle two swinging kick drive motor M
3During rotation, anterior two swinging kick T and two the swinging kick T in rear portion are swung up and down simultaneously, and the state that lands of control four wheels LZ.When robot movement body BT moves, by controlling the state of four swinging kick T, the selection of may command robot movement body BT move mode (crawler belt or wheel).When adopting crawler belt to move, robot movement body BT have advance, retreat, about turn to, climbing, stair activity and leaping over obstacles function; When adopting wheel LZ to move, robot movement body BT have advance, retreat, about turn to and climbing function, and moving velocity is the twice of crawler belt when moving.
Claims (4)
1, a kind of dangerous school assignment robot with wheel-leg-crawler compound type travel mechanism is characterized in that: have four swinging kicks (T), main crawler belt (L
1), auxiliary crawler belt (L
2), mobile body (BT), an end of described four swinging kicks (T) is equipped with wheel (LZ), main crawler belt (L
1) be installed on the mobile body (BT) auxiliary crawler belt (L by belt wheel
2) end is installed on the mobile body (BT) by belt wheel, the other end links to each other with four swinging kicks (T) respectively by guide wheel (DL); Described mobile body (BT) diagonal constitutes the identical walking of structure and swing two parts respectively; Wherein:
Crawler body comprises travel driving motor (M
1), described travel driving motor (M
1) the output shaft and the first belt wheel transmission gear (DC
11) be connected the described first belt wheel transmission gear (DC
11) and be connected in belt wheel turning cylinder (Z
1) on the second belt wheel transmission gear (DC
12) be meshed the first belt wheel (D
11) axle one end and belt wheel turning cylinder (Z
1) be installed together the other end and the first wheel transmission gear (LC
11) be connected the first wheel transmission gear (LC
11) and the second wheel transmission gear (LC
12), the sub-transmission gear (LC of third round
13) be meshed the sub-transmission gear (LC of third round
13) affixed with wheel (LZ); First belt wheel (the D
11) by auxiliary crawler belt (L
2) and guide wheel link to each other with swinging kick (T);
Described swinging kick partly comprises swinging kick drive motor (M
2), swinging kick drive motor (M
2) the output shaft and the first swinging kick arm revolving gear (BC
11) be connected the first swinging kick arm revolving gear (BC
11) and the second swinging kick arm revolving gear (BC
12) be meshed the second swinging kick arm revolving gear (BC
12) connect firmly at swinging kick turning cylinder (Z
2) on, swinging kick turning cylinder (Z
2) pass the second belt wheel (D successively
22) and the sub-transmission gear (LC of four-wheel
21) be connected with swinging kick (T); Sub-transmission gear (the LC of four-wheel
21) and the 5th wheel transmission gear (LC
22), the 6th wheel transmission gear (LC
23) be meshed the 6th wheel transmission gear (LC
23) affixed with wheel (LZ); Second belt wheel (the D
22) by auxiliary crawler belt (L
2) and guide wheel (DL) link to each other with swinging kick (T).
2, by the described dangerous school assignment robot with wheel-leg-crawler compound type travel mechanism of claim 1, it is characterized in that: anterior two swinging kicks (T) same-phase of horizontal direction is installed, and two swinging kicks in rear portion (T) same-phase is installed.
3, by the described dangerous school assignment robot of claim 1, it is characterized in that with wheel-leg-crawler compound type travel mechanism: four wheels (LZ) respectively with four auxiliary crawler belt (L
2) be located in the same plane.
4, by the described dangerous school assignment robot of claim 1 with wheel-leg-crawler compound type travel mechanism, it is characterized in that: belt wheel is two parts unitized construction of different size, near mobile body (BT) side size greater than opposite side, described near between the belt wheel of mobile body (BT) side with main crawler belt (L
1) connect; The opposite side belt wheel is by auxiliary crawler belt (L
2) link to each other with guide wheel (DL).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100208561A CN100354171C (en) | 2004-06-30 | 2004-06-30 | Dangerous operation robot with wheel-leg-crawler combined moving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100208561A CN100354171C (en) | 2004-06-30 | 2004-06-30 | Dangerous operation robot with wheel-leg-crawler combined moving mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1715121A true CN1715121A (en) | 2006-01-04 |
| CN100354171C CN100354171C (en) | 2007-12-12 |
Family
ID=35821357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100208561A Expired - Lifetime CN100354171C (en) | 2004-06-30 | 2004-06-30 | Dangerous operation robot with wheel-leg-crawler combined moving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100354171C (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101797936A (en) * | 2010-03-26 | 2010-08-11 | 浙江大学 | Wheel swinging-type compound drive device for miniature mobile robot |
| CN102050166A (en) * | 2011-01-07 | 2011-05-11 | 国营红峰机械厂 | Wheel and foot combination type mobile robot leg |
| CN101733744B (en) * | 2008-11-26 | 2011-11-09 | 中国科学院沈阳自动化研究所 | Gear-variable mobile robot |
| CN102729239A (en) * | 2012-01-18 | 2012-10-17 | 浙江机电职业技术学院 | All-dimensional manipulator |
| CN103010325A (en) * | 2012-12-17 | 2013-04-03 | 北京邮电大学 | Convertible walking mechanism of robot |
| CN103029766A (en) * | 2013-01-15 | 2013-04-10 | 中南林业科技大学 | Crawler wheel-type four-wheel drive chassis device adaptive to woodland and other complex terrains |
| CN103373404A (en) * | 2012-04-27 | 2013-10-30 | 沈阳航空航天大学 | Wheeled-tracked-legged composite type mobile robot |
| CN105292281A (en) * | 2015-11-02 | 2016-02-03 | 国网山东省电力公司电力科学研究院 | Patrol wheel-pedrail type obstacle-crossing robot for transformer substations |
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| CN108100060A (en) * | 2017-12-26 | 2018-06-01 | 中国科学院合肥物质科学研究院 | A kind of multi-mode wall-climbing device robot movement mechanism |
| CN109606493A (en) * | 2018-11-21 | 2019-04-12 | 中北大学 | A kind of fire-fighting robot for converting walking manner |
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| CN101733744B (en) * | 2008-11-26 | 2011-11-09 | 中国科学院沈阳自动化研究所 | Gear-variable mobile robot |
| CN101797936A (en) * | 2010-03-26 | 2010-08-11 | 浙江大学 | Wheel swinging-type compound drive device for miniature mobile robot |
| CN101797936B (en) * | 2010-03-26 | 2011-11-30 | 浙江大学 | Wheel swinging-type compound drive device for miniature mobile robot |
| CN102050166A (en) * | 2011-01-07 | 2011-05-11 | 国营红峰机械厂 | Wheel and foot combination type mobile robot leg |
| CN102050166B (en) * | 2011-01-07 | 2012-10-10 | 湖北三江航天红峰控制有限公司 | Wheel and foot combination type mobile robot leg |
| CN102729239A (en) * | 2012-01-18 | 2012-10-17 | 浙江机电职业技术学院 | All-dimensional manipulator |
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| CN103010325A (en) * | 2012-12-17 | 2013-04-03 | 北京邮电大学 | Convertible walking mechanism of robot |
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| CN105292281A (en) * | 2015-11-02 | 2016-02-03 | 国网山东省电力公司电力科学研究院 | Patrol wheel-pedrail type obstacle-crossing robot for transformer substations |
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| CN105643589B (en) * | 2016-03-08 | 2018-08-07 | 北京工业大学 | A kind of autonomous troubleshooting formula intelligent vehicle system |
| CN106121024A (en) * | 2016-06-23 | 2016-11-16 | 安庆市蒲公英水电安装工程有限公司 | A kind of Construction of Urban Garden Landscape engineering irrigation canals and ditches operation intelligence equipment |
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| CN106121024B (en) * | 2016-06-23 | 2018-05-15 | 张玲红 | A kind of Construction of Urban Garden Landscape engineering irrigation canals and ditches operation is intelligently equipped |
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| CN106121015B (en) * | 2016-07-14 | 2018-08-24 | 湖南凯迪建设工程有限公司 | A kind of construction drainage burying pipeline intelligent robot |
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| CN107963143B (en) * | 2017-12-28 | 2023-07-25 | 中国科学院合肥物质科学研究院 | Walking mechanism of claw-thorn type wall climbing robot |
| CN107963143A (en) * | 2017-12-28 | 2018-04-27 | 中国科学院合肥物质科学研究院 | A kind of walking mechanism of pawl thorn formula climbing robot |
| CN109606493A (en) * | 2018-11-21 | 2019-04-12 | 中北大学 | A kind of fire-fighting robot for converting walking manner |
| CN109606493B (en) * | 2018-11-21 | 2021-03-12 | 中北大学 | Fire-fighting robot capable of changing walking modes |
| CN111038612A (en) * | 2019-12-31 | 2020-04-21 | 浙江大学 | Multi-motion-mode wheel-track-leg combined robot |
| CN112407090A (en) * | 2020-11-25 | 2021-02-26 | 桂林航天工业学院 | Industrial robot multi-angle running gear |
| CN112407090B (en) * | 2020-11-25 | 2021-10-26 | 桂林航天工业学院 | Industrial robot multi-angle running gear |
| CN114056453A (en) * | 2021-12-27 | 2022-02-18 | 浙江工业大学 | Crawler and leg double-motion-mode crawling robot for underground pipe gallery inspection |
| CN114243544A (en) * | 2022-02-25 | 2022-03-25 | 国网辽宁省电力有限公司电力科学研究院 | Robot-based GIS vertical cavity overhauling system and overhauling method |
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| CN100354171C (en) | 2007-12-12 |
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