CN1789063A - Flexible structure universal robot - Google Patents
Flexible structure universal robot Download PDFInfo
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- CN1789063A CN1789063A CN 200410097169 CN200410097169A CN1789063A CN 1789063 A CN1789063 A CN 1789063A CN 200410097169 CN200410097169 CN 200410097169 CN 200410097169 A CN200410097169 A CN 200410097169A CN 1789063 A CN1789063 A CN 1789063A
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- robot
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- flexible structure
- wheel
- car body
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Abstract
The flexible versatile robot has a flexible structure comprising several elastically connected sector cabins and each of the sector cabins has driving control wheels and a middle driven wheel. The flexible structure makes the robot stable in walking with less side turnover, simple, flexible and adaptable to different landforms.
Description
Affiliated technical field
The universal robot that patent of the present invention relates to a kind of multiple-wheel drive walking, has flexible structure.
Background technology
Present most of land robot, walking manner generally has three kinds.A kind of is the bionic walking mode, and a kind of is the crawler-type traveling mode, and also having a kind of is exactly wheeled driving walking manner.Modal is exactly wheeled driving walking manner.As shown in Figure 5.Its notable feature is that whole cabin body is the rigid construction of one, is prone to rollover.
Summary of the invention
Be prone to rollover, walking problem such as dumb in order to overcome common wheeled robot, improve the reliability of robot ambulation, the present invention has designed a kind of many fan elasticity bonded assembly flexible structures makes robot both have the reliability of height, be not prone to rollover, can walk flexibly again, automatically adaptation to the ground.
The technical solution adopted for the present invention to solve the technical problems is: design-calculated of the present invention is fanned elasticity bonded assembly flexible structure more, and it is divided into many fans to robot car body.Be connected with Flexible Connector by hinge between each fan of car body, and all there is a driving wheel the peripheral bottom of each fan as support.The car body center by a flower wheel as support.Owing to be that elasticity connects between each fan, thereby it is a kind of flexible structure, it can fit tightly various road surfaces by the class molluscoid, during walking, the car body safety and stability is not easy to overturn, during the local leaping over obstacles of car body, other parts also can steadily be advanced, and can not produce idle running because each wheel is fitted with ground all the time, thereby the power source of robot also can be fully used.The train of this flexible structure is made of driving wheel that is installed in every winnowing machine body periphery and middle flower wheel.Driving wheel can rotate freely by 360 degree under step motor control.When the driving wheel direction was adjusted to the tangent to periphery direction, robot can rotate in the original place, and when all driving wheel directions were consistent, robot will be according to the direction straightaway of train; When driving wheel has the direction difference, can make robot curve walking (wheel position can be set arbitrarily angled by step motor control).Like this, robot just can be realized right-angle steering, universal walking.This flexible ability that realizes by simple structure has obvious superiority.
The beneficial effect of patent of the present invention is: it adopts simple flexible structure train layout to realize that robot adapts to various landform automatically, safe leaping over obstacles, universal operation (not having the reversing notion), arbitrarily angled sophisticated functions such as turn round.These effects are not only investigated for lunar science, development for the scientific investigation robot of Mars even other celestial body all has using value preferably, and also has potential using value for the development that equipment, main battle weaponry and logistics support equipment are scouted in the novel land of complex-terrain environment.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples.
Fig. 1 fans elasticity more and connects the flexible structure birds-eye view.
Among the figure, 1. cabin, center, 2. wing tank, 3. hinge, 4. wheel, 5. Flexible Connector.
Fig. 2 fans elasticity more and connects the flexible structure front elevation.
Among the figure, 1. driving wheel, 2. flower wheel.
First embodiment front elevation of Fig. 3 flexible structure universal robot.
Among the figure, 1. antenna, 2. overhead bin, 3. mast, the 4.A cabin, the 5.B cabin, the 6.C cabin, 7. the cabin, center is 8. main
Driving wheel, 9. Flexible Connector, 10. flower wheel.
The local leaping over obstacles figure of first embodiment of Fig. 4 flexible structure universal robot.
The general wheeled drive machines people's structure of Fig. 5.
Among the figure, 1. car body, 2, wheel.
The specific embodiment
In Fig. 1, robot car body is divided into cabin, center (1) and wing tank (2), the cabin, center is connected with hinge (3) with wing tank, connects by Flexible Connector (5) between the wing tank.All there is a wheel (4) each wing tank bottom as supporting, and also there is a wheel in the cabin, center as support.
In Fig. 3 embodiment, cabin, center (7) are equipped with main control computer, and A cabin (4), B cabin (5), C cabin (6) are equipped with stepping motor and micro controller system respectively, under the control of main control computer, by the Single-chip Controlling stepping motor, thereby control turning to of driving wheel (8).The video acquisition transmission system is housed in the overhead bin (2) can be transferred to the effector to the far-end video information of robot collection by antenna (1).
Claims (2)
1, a kind of flexible structure universal robot.It adopts a kind of many fan elasticity bonded assembly flexible structures.It is characterized in that: robot car body is divided into many fans.Be connected with Flexible Connector by hinge between each fan of car body, and all there is a driving wheel the peripheral bottom of each fan as support.The car body center is supported by a flower wheel.
2, robot according to claim 1 is characterized in that: its edge support wheel is a driving wheel, can adjust respectively to turn under the control of control computer.Center gear is a flower wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410097169XA CN100358771C (en) | 2004-12-13 | 2004-12-13 | Flexible structure universal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410097169XA CN100358771C (en) | 2004-12-13 | 2004-12-13 | Flexible structure universal robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1789063A true CN1789063A (en) | 2006-06-21 |
| CN100358771C CN100358771C (en) | 2008-01-02 |
Family
ID=36787235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200410097169XA Expired - Fee Related CN100358771C (en) | 2004-12-13 | 2004-12-13 | Flexible structure universal robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100358771C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111168420A (en) * | 2018-11-12 | 2020-05-19 | 上海交通大学 | Wheeled three-dimensional mobile support flexible tool structure |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4657104A (en) * | 1983-07-23 | 1987-04-14 | Cybermation, Inc. | Concentric shaft mobile base for robots and the like |
| JPS60215480A (en) * | 1984-04-12 | 1985-10-28 | Toshiba Corp | Travel car |
| CN87210692U (en) * | 1987-10-31 | 1988-08-10 | 崔乃力 | Multi-purpose folding flatbed tricycle for servicing cars |
| US5372211A (en) * | 1992-10-01 | 1994-12-13 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Method for surmounting an obstacle by a robot vehicle |
| CN1184744A (en) * | 1996-12-08 | 1998-06-17 | 廖华勇 | All driection running car |
| IL138695A (en) * | 2000-09-26 | 2004-08-31 | Rafael Armament Dev Authority | Unmanned mobile device |
-
2004
- 2004-12-13 CN CNB200410097169XA patent/CN100358771C/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111168420A (en) * | 2018-11-12 | 2020-05-19 | 上海交通大学 | Wheeled three-dimensional mobile support flexible tool structure |
| CN111168420B (en) * | 2018-11-12 | 2021-03-30 | 上海交通大学 | Wheeled three-dimensional mobile support flexible tool structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100358771C (en) | 2008-01-02 |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |