CN203293183U - Wheel-arm hybrid type obstacle crossing robot provided with radial telescopic wheels - Google Patents
Wheel-arm hybrid type obstacle crossing robot provided with radial telescopic wheels Download PDFInfo
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- CN203293183U CN203293183U CN2013202342926U CN201320234292U CN203293183U CN 203293183 U CN203293183 U CN 203293183U CN 2013202342926 U CN2013202342926 U CN 2013202342926U CN 201320234292 U CN201320234292 U CN 201320234292U CN 203293183 U CN203293183 U CN 203293183U
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Abstract
The utility model discloses a wheel-arm hybrid type obstacle crossing robot provided with radial telescopic wheels. The existing mobile robot has the problem of being insufficient in motion and operation capacity in the complex environment. The utility model provides the wheel-arm hybrid type obstacle crossing robot provided with the radial telescopic wheels; the wheel-arm hybrid type obstacle crossing robot consists of five parts including driving wheels, a car body, a mechanical arm, an auxiliary wheel and a mechanical hand. The two driving wheels are symmetrically arranged at the left side and the right side of the car body, and are connected with the car body, so that a revolute pair can be formed; the mechanical arm is articulated with the front end of the car body; the auxiliary wheel is arranged on a small arm of the mechanical arm; the mechanical hand is fixedly connected with the tail end of the wrist joint of the mechanical arm. The wheel-arm hybrid type obstacle crossing robot has the characteristics of being light in weight, low in power consumption and flexible in movement, has independent detection and operation capacity, and can adapt to the terrain by changing the pose of the wheels and the arm of the obstacle crossing robot and adjusting the radial dimensions of the wheels.
Description
Technical field
The utility model relates to a kind of hybrid barrier-surpassing robot of arm of taking turns, and relates in particular to a kind of hybrid barrier-surpassing robot of wheel arm with radial expansion wheel.
Background technology
The rise in the fields such as celestial body detecting, military surveillance and calamity danger search and rescue, promoted the development of mobile barrier-surpassing robot technology.Mobile barrier-surpassing robot is as the workbench of carrying scientific instrument, and its exercise performance has a direct impact the effect of completing of detection mission.Complicated, destructuring landform that mobile barrier-surpassing robot running environment is mostly, require it to have stronger landform adaptability and turning function flexibly.Present mobile barrier-surpassing robot is relatively poor for changeable complex-terrain adaptive capacity, and how not to possess the independently working ability.In conjunction with the mission requirements of mobile barrier-surpassing robot, design a kind of hybrid barrier-surpassing robot of wheel arm with radial expansion wheel, can independently adapt to the complex-terrain environment, and complete independently detection mission and realize certain operation function.
Summary of the invention
The utility model, for the deficiencies in the prior art, has proposed a kind of hybrid barrier-surpassing robot of wheel arm with radial expansion wheel.
The technical solution adopted in the utility model is as follows:
A kind of hybrid barrier-surpassing robot of wheel arm with radial expansion wheel is comprised of driving wheel, car body, mechanical arm, auxiliary wheel, manipulator.Described two driving wheels are symmetricly set on the car body left and right sides, and with car body, connect and compose revolute pair, and described mechanical arm and car body front end are hinged, and auxiliary wheel is arranged on the forearm of mechanical arm, and described manipulator is affixed by the wrist joint steering wheel of connecting plate and mechanical arm.
Described driving wheel comprises that outer shaft, interior axle, clutch, bearing block, nut, guide post, inner rim, spoke push rod, spoke push away seat, wheel rim skewback, linear bearing, spoke bar;
Described interior axle is installed on outer shaft inside by spring bearing, and connects and composes revolute pair with it; The axle head of outer shaft and clutch one end are affixed; One end and the clutch other end of interior axle are affixed, and the other end and the inner rim of interior axle are affixed; Nut is connected by motion thread with outer shaft, and guide post is fixed in the nut lower end, and it is hinged by bearing and nut that spoke pushes away seat; Six roots of sensation spoke push rod pushes away between seat and spoke bar along circumferentially being distributed on spoke, and the two ends of each root spoke push rod push away with spoke respectively and the axle head of spoke bar is hinged; Another axle head of spoke bar and wheel rim skewback are affixed, and by linear bearing and inner rim, form sliding pair.
Described car body comprises base plate, header board, side plate, guide rail, rear plate.Described header board, two blocks of side plates, rear plates all vertically are packed on base plate, and guide rail is fixedly mounted on base plate center line along its length.
Described mechanical arm comprises motor, arm seat, rotating turret, shoulder joint steering wheel, large arm, elbow joint steering wheel, forearm and wrist joint steering wheel.Motor is packed on arm seat; Rotating turret connects and composes revolute pair by bearing and arm seat, and affixed with motor output shaft; The shoulder joint steering wheel is fixed on rotating turret, and an end of large arm and the output shaft of shoulder joint steering wheel are affixed, and its other end and elbow joint steering wheel are affixed; Elbow joint steering wheel output shaft and forearm one end are affixed, and the other end of forearm and wrist joint steering wheel output shaft are affixed.
Described auxiliary wheel comprises connecting rod, wheel, wheel seat, long arm swing, auxiliary wheel steering wheel, auxiliary wheel steering wheel frame and short swing arm;
Described wheel seat is packed in the forearm end, and connecting rod one end and wheel seat connect and compose revolute pair, and the other end and wheel connect and compose revolute pair; The long arm swing two ends connect and compose revolute pair with connecting rod and short swing arm respectively, and short swing arm is affixed with the auxiliary wheel steering wheel output shaft that is packed on forearm, and described auxiliary wheel steering wheel is packed on forearm by auxiliary wheel steering wheel frame.
Described manipulator comprises clamping gear, installing rack, connecting plate, clamping steering wheel, gathering sill, long clamping limb and short clamping limb;
Described connecting plate and installing rack are affixed, and the clamping steering wheel is packed in installing rack by screw; The clamping gear is packed on clamping steering wheel output shaft, and tooth bar and the gathering sill of affixed, the long clamping limb of gathering sill and installing rack and short clamping limb end connect and compose sliding pair, and with the clamping gear, meshes.
The beneficial effects of the utility model are: 1, the utlity model has two kinds of mode of operations, i.e. motor pattern and work pattern.Under motor pattern, robot can carry payload realizes motion under MODEL OVER COMPLEX TOPOGRAPHY; Under work pattern, robot has stable job platform, can carry out the operations specific task by the drive mechanical arm; Robot can rotate the autonomous conversion that realizes motor pattern and work pattern by the mechanical arm shoulder joint; 2, the driving wheel of the hybrid barrier-surpassing robot of wheel arm can be realized the continuous adjusting of wheel radial dimension, and has larger folding exhibition ratio; 3, the folding and expanding of driving wheel, driving are travelled and are only adopted a power source (motor), compact conformation, and drive efficiency is high, and takes full advantage of the space of wheel body; 4, wheel locking mechanism is reliable, can guarantee the repeatedly redundancy reliability of folding and unfolding locking solution of wheel; 5, the wheel rim skewback has guaranteed the Continuous Contact on wheel and ground, can effectively reduce mobile robot's body oscillating, and the wheel rim gap has effectively increased the attachment coefficient on wheel ground simultaneously, strengthens its obstacle performance.6, auxiliary wheel has draw-in and draw-off function, can improve the obstacle climbing ability of robot and the kinematic dexterity of mechanical arm; 7, in the utility model, servo driving is all used in each joint of mechanical arm, and accurate positioning, precision is high, quality is little, action is fast, has flexibility preferably and adaptability, and working space is large.8, in the utility model, manipulator is realized the translation clamping movement of clamping limb by pinion and rack, and its simple in structure, reliable in action is easy for installation.9, be widely used, except can use in the fields such as celestial body detecting vehicle, military surveillance and the search and rescue of calamity field, also can be used as the mobile carrier detection of other complex-terrain situation.
Description of drawings
Fig. 1 is kinematic sketch of mechanism of the present utility model;
Fig. 2 is wheel structural representation of the present utility model;
Fig. 3 is driving wheel structure schematic diagram of the present utility model;
Fig. 4 is body construction schematic diagram of the present utility model;
Fig. 5 is mechanical arm structural representation of the present utility model;
Fig. 6 end robot manipulator structure of the present utility model schematic diagram.
In Fig. 1-6: 1, driving wheel; 2, car body; 3, mechanical arm; 4, auxiliary wheel; 5, manipulator; 1-1, outer shaft; 1-2, interior axle; 1-3, clutch; 1-4, bearing block; 1-5, nut; 1-6, guide post; 1-7, inner rim; 1-8, spoke push rod; 1-9, spoke push away seat; 1-10, wheel rim skewback; 1-11, linear bearing; 1-12 spoke bar; 2-1, base plate; 2-2, header board; 2-3, side plate; 2-4, guide rail; 2-5, rear plate; 3-1, motor; 3-2, arm seat; 3-3, rotating turret; 3-4, shoulder joint steering wheel; 3-5, large arm; 3-6, elbow joint steering wheel; 3-7, forearm; 3-8, wrist joint steering wheel; 4-1, connecting rod; 4-2, wheel; 4-3, wheel seat; 4-4, long arm swing; 4-5, auxiliary wheel steering wheel; 4-6, auxiliary wheel steering wheel frame; 4-7, short swing arm; 5-1, gear; 5-2, installing rack; 5-3, connecting plate; 5-4, clamping steering wheel; 5-5, gathering sill; 5-6, long clamping limb; 5-7, short clamping limb.
The specific embodiment
Below in conjunction with the accompanying drawing of this patent, the specific embodiment of this patent is described.
As shown in Figure 1 and Figure 2, a kind of hybrid barrier-surpassing robot of wheel arm with radial expansion wheel is comprised of driving wheel 1, car body 2, mechanical arm 3, auxiliary wheel 4, manipulator 5.Described two driving wheels 1 are symmetricly set on car body 2 left and right sides, and with car body 2, connect and compose revolute pair, described mechanical arm 3 is hinged with car body 2 front ends, and auxiliary wheel 4 is arranged on the forearm 3-7 of mechanical arm 3, and described manipulator 5 is affixed by the wrist joint steering wheel 3-8 of connecting plate 5-3 and mechanical arm 3.
As shown in Figure 3, described driving wheel 1 comprises that outer shaft 1-1, interior axle 1-2, clutch 1-3, bearing block 1-4, nut 1-5, guide post 1-6, inner rim 1-7, spoke push rod 1-8, spoke push away a 1-9, wheel rim skewback 1-10, linear bearing 1-11, spoke bar 1-12.
It is inner that described interior axle 1-2 is installed on outer shaft 1-1 by spring bearing, and connect and compose revolute pair with it; The axle head of outer shaft 1-1 and clutch 1-3 one end are affixed; An end and the clutch 1-3 other end of interior axle 1-2 are affixed, and the other end of interior axle 1-2 and inner rim 1-7 are affixed; Nut 1-5 is connected by motion thread with outer shaft 1-1, and guide post 1-6 is fixed in nut 1-5 lower end, and it is hinged by bearing and nut 1-5 that spoke pushes away a 1-9; Six roots of sensation spoke push rod 1-8 pushes away between a 1-9 and spoke bar 1-12 along circumferentially being distributed on spoke, and to push away the axle head of a 1-9 and spoke bar 1-12 hinged with spoke respectively at the two ends of each root spoke push rod 1-8; Another axle head of spoke bar 1-12 and wheel rim skewback 1-10 are affixed, and by linear bearing 1-11 and inner rim 1-7, form sliding pair.
As shown in Figure 4, described car body 2 comprises base plate 2-1, header board 2-2, side plate 2-3, guide rail 2-4, rear plate 2-5.Described header board 2-2, two side plate 2-3, rear plate 2-5 vertically are packed on base plate 2-1, and guide rail 2-4 is fixedly mounted on base plate 2-1 center line along its length.
As shown in Figure 5, described mechanical arm 3 comprises motor 3-1, arm seat 3-2, rotating turret 3-3, shoulder joint steering wheel 3-4, large arm 3-5, elbow joint steering wheel 3-6, forearm 3-7 and wrist joint steering wheel 3-8.Motor 3-1 is packed on arm seat 3-2; Rotating turret 3-3 connects and composes revolute pair by bearing and arm seat 3-2, and affixed with motor 3-1 output shaft; Shoulder joint steering wheel 3-4 is fixed on rotating turret 3-3, and the end of large arm 3-5 and the output shaft of shoulder joint steering wheel 3-4 are affixed, and its other end and elbow joint steering wheel 3-6 are affixed; Elbow joint steering wheel 3-6 output shaft and forearm 3-7 one end are affixed, and the other end of forearm 3-7 and wrist joint steering wheel 3-8 output shaft are affixed.
Described auxiliary wheel 4 comprises connecting rod 4-1, wheel 4-2, wheel seat 4-3, long arm swing 4-4, auxiliary wheel steering wheel 4-5, auxiliary wheel steering wheel frame 4-6 and short swing arm 4-7;
Described wheel seat 4-3 is packed in forearm 3-7 end, and connecting rod 4-1 one end and wheel seat 4-3 connect and compose revolute pair, and the other end and wheel 4-2 connect and compose revolute pair; Long arm swing 4-4 two ends connect and compose revolute pair with connecting rod 4-1 and short swing arm 4-7 respectively, short swing arm 4-7 is affixed with the auxiliary wheel steering wheel 4-5 output shaft that is packed on forearm 3-7, and described auxiliary wheel steering wheel 4-5 is packed on forearm 3-7 by auxiliary wheel steering wheel frame 4-6.
As shown in Figure 6, described manipulator 5 comprises clamping gear 5-1, installing rack 5-2, connecting plate 5-3, clamping steering wheel 5-4, gathering sill 5-5, long clamping limb 5-6 and short clamping limb 5-7;
Described connecting plate 5-3 and installing rack 5-2 are affixed, and clamping steering wheel 5-4 is packed in installing rack 5-2 by screw; Clamping gear 5-1 is packed on clamping steering wheel 5-4 output shaft, and tooth bar and the gathering sill 5-5 of affixed, the long clamping limb 5-6 of gathering sill 5-5 and installing rack 5-2 and short clamping limb 5-7 end connect and compose sliding pair, and with clamping gear 5-1, meshes.
The specific implementation process is as follows:
Under motor pattern, two driving wheels 1 contact with ground with auxiliary wheel 4, driving wheel 1 driven machine people motion, and auxiliary wheel 4 and the two differential cooperations of driving wheel 1 realize the robot turning function; Auxiliary wheel 4 directions of motion are controlled by mechanical arm 3 joint rotation angles.Under operator scheme, robot driving wheel 1 side contacts with ground, auxiliary wheel 4 folds on forearm 3-7, and the four-degree-of-freedom mechanical arm that is arranged on car body 2 header boards can be realized its motion in the particular job space, the manipulator 5 of being installed by the mechanical arm 3 ends task that fulfils assignment.
Driving wheel with hybrid barrier-surpassing robot of wheel arm of radial expansion wheel is the radial expansion wheel, during the electromagnetic clutch 1-3 adhesive of radial expansion wheel, outer shaft 1-1 is synchronizeed and is rotated with interior axle 1-2, limited the circumferential movement of nut 1-5 due to guide post 1-6, nut 1-5 moves vertically when outer shaft 1-1 rotates, and promote the spoke hinged with it and push away a 1-9 and move vertically, simultaneously, spoke pushes away a 1-9 axial rotation; Spoke push rod 1-8 is in the time of interior axle 1-2 rotation, do plane motion in Plane of rotation, the spoke bar 1-12 that is hinged on spoke push rod 1-8 one end radially moves, and then drives the wheel rim skewback 1-10 be fixed on spoke bar 1-12 and radially move, and the radial dimension of wheel is changed.When electromagnetic clutch 1-3 separated, the outer shaft 1-1 hinged with interior axle 1-2 was static, and nut 1-5 keeps inactive state by the screw thread pair self-locking, and the radial dimension of wheel no longer changes.Inner rim 1-7, spoke bar 1-12, spoke push rod 1-8, spoke push away a 1-9, wheel rim skewback 1-10 and all with interior axle 1-2, relative motion do not occur, at this moment, wheel is in the integral locking state, wheel hub, wheel shaft, spoke, being integrally formed of wheel rim car wheel structure, interior axle 1-2 rotates the drive spoke and wheel rim rotates in order to realize the driving functions of wheel.
Claims (6)
1. the hybrid barrier-surpassing robot of wheel arm that has the radial expansion wheel, formed by driving wheel, car body, mechanical arm, auxiliary wheel, manipulator, it is characterized in that: described two driving wheels are symmetricly set on the car body left and right sides, and with car body, connect and compose revolute pair, described mechanical arm and car body front end are hinged, auxiliary wheel is arranged on the forearm of mechanical arm, and described manipulator is affixed by the wrist joint steering wheel of connecting plate and mechanical arm.
2. the hybrid barrier-surpassing robot of wheel arm with radial expansion wheel according to claim 1, it is characterized in that: described driving wheel comprises that outer shaft, interior axle, clutch, bearing block, nut, guide post, inner rim, spoke push rod, spoke push away seat, wheel rim skewback, linear bearing, spoke bar;
Described interior axle is installed on outer shaft inside by spring bearing, and connects and composes revolute pair with it; The axle head of outer shaft and clutch one end are affixed; One end and the clutch other end of interior axle are affixed, and the other end and the inner rim of interior axle are affixed; Nut is connected by motion thread with outer shaft, and guide post is fixed in the nut lower end, and it is hinged by bearing and nut that spoke pushes away seat; Six roots of sensation spoke push rod pushes away between seat and spoke bar along circumferentially being distributed on spoke, and the two ends of each root spoke push rod push away with spoke respectively and the axle head of spoke bar is hinged; Another axle head of spoke bar and wheel rim skewback are affixed, and by linear bearing and inner rim, form sliding pair.
3. the hybrid barrier-surpassing robot of wheel arm with radial expansion wheel according to claim 1, it is characterized in that: described car body comprises base plate, header board, side plate, guide rail, rear plate; Described header board, two blocks of side plates, rear plates all vertically are packed on base plate, and guide rail is fixedly mounted on base plate center line along its length.
4. the hybrid barrier-surpassing robot of wheel arm with radial expansion wheel according to claim 1 is characterized in that: described mechanical arm comprises motor, arm seat, rotating turret, shoulder joint steering wheel, large arm, elbow joint steering wheel, forearm and wrist joint steering wheel; Motor is packed on arm seat; Rotating turret connects and composes revolute pair by bearing and arm seat, and affixed with motor output shaft; The shoulder joint steering wheel is fixed on rotating turret, and an end of large arm and the output shaft of shoulder joint steering wheel are affixed, and its other end and elbow joint steering wheel are affixed; Elbow joint steering wheel output shaft and forearm one end are affixed, and the other end of forearm and wrist joint steering wheel output shaft are affixed.
5. the hybrid barrier-surpassing robot of wheel arm with radial expansion wheel according to claim 1, it is characterized in that: described auxiliary wheel comprises connecting rod, wheel, wheel seat, long arm swing, auxiliary wheel steering wheel, auxiliary wheel steering wheel frame and short swing arm;
Described wheel seat is packed in the forearm end, and connecting rod one end and wheel seat connect and compose revolute pair, and the other end and wheel connect and compose revolute pair; The long arm swing two ends connect and compose revolute pair with connecting rod and short swing arm respectively, and short swing arm is affixed with the auxiliary wheel steering wheel output shaft that is packed on forearm, and described auxiliary wheel steering wheel is packed on forearm by auxiliary wheel steering wheel frame.
6. the hybrid barrier-surpassing robot of wheel arm with radial expansion wheel according to claim 1, it is characterized in that: described manipulator comprises clamping gear, installing rack, connecting plate, clamping steering wheel, gathering sill, long clamping limb and short clamping limb;
Described connecting plate and installing rack are affixed, and the clamping steering wheel is packed in installing rack by screw; The clamping gear is packed on clamping steering wheel output shaft, and tooth bar and the gathering sill of affixed, the long clamping limb of gathering sill and installing rack and short clamping limb end connect and compose sliding pair, and with the clamping gear, meshes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202342926U CN203293183U (en) | 2013-05-02 | 2013-05-02 | Wheel-arm hybrid type obstacle crossing robot provided with radial telescopic wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202342926U CN203293183U (en) | 2013-05-02 | 2013-05-02 | Wheel-arm hybrid type obstacle crossing robot provided with radial telescopic wheels |
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| CN203293183U true CN203293183U (en) | 2013-11-20 |
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| CN2013202342926U Expired - Fee Related CN203293183U (en) | 2013-05-02 | 2013-05-02 | Wheel-arm hybrid type obstacle crossing robot provided with radial telescopic wheels |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264382A (en) * | 2013-05-02 | 2013-08-28 | 浙江理工大学 | Wheel-arm-hybrid obstacle surmounting robot with radial telescopic wheels |
| CN110236807A (en) * | 2019-05-09 | 2019-09-17 | 哈工大机器人（合肥）国际创新研究院 | A kind of passive type support obstacle avoidance apparatus, stair climbing robot and its climb building method |
| CN115256436A (en) * | 2022-08-16 | 2022-11-01 | 安徽大学 | Self-adaptive manipulator with high mechanical gain |
-
2013
- 2013-05-02 CN CN2013202342926U patent/CN203293183U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264382A (en) * | 2013-05-02 | 2013-08-28 | 浙江理工大学 | Wheel-arm-hybrid obstacle surmounting robot with radial telescopic wheels |
| CN103264382B (en) * | 2013-05-02 | 2015-05-20 | 浙江理工大学 | Wheel-arm-hybrid obstacle surmounting robot with radial telescopic wheels |
| CN110236807A (en) * | 2019-05-09 | 2019-09-17 | 哈工大机器人（合肥）国际创新研究院 | A kind of passive type support obstacle avoidance apparatus, stair climbing robot and its climb building method |
| CN115256436A (en) * | 2022-08-16 | 2022-11-01 | 安徽大学 | Self-adaptive manipulator with high mechanical gain |
| CN115256436B (en) * | 2022-08-16 | 2023-03-03 | 安徽大学 | Self-adaptive manipulator with high mechanical gain |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131120 Termination date: 20160502 |