CN205292841U - Can hinder robot more - Google Patents
Can hinder robot more Download PDFInfo
- Publication number
- CN205292841U CN205292841U CN201620066524.5U CN201620066524U CN205292841U CN 205292841 U CN205292841 U CN 205292841U CN 201620066524 U CN201620066524 U CN 201620066524U CN 205292841 U CN205292841 U CN 205292841U
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- China
- Prior art keywords
- rotating disk
- rotary disc
- disc assembly
- folding rotary
- rotating
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- Withdrawn - After Issue
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Abstract
The utility model provides a can hinder robot more. Can hinder robot more includes: the center pin extends along the horizontal direction of level, two rotary assembly that can open and shut set up in the both ends of center pin, and every rotary assembly that can open and shut includes two at least carousels and at least one connecting device, and every carousel is rotationally installed in the center pin, and every connecting device configures of making in two carousels into and has the position of expansion and folding position for another, two drive arrangement, every drive arrangement configure at least two carousels rotation of drive when the rotary assembly that can open and shut is in development condition into, with two brake subassemblies, every brake subassembly configures into when the rotary assembly that can open and shut is in development condition and rotates, to the action of braking of this carousel that can open and shut rotary assembly. This can hinder robot more can not walk on ground of deep water, desert, marsh, dirt etc. And this can hinder robot more's opened and shut a rotary assembly thing is multi -purpose, and simple structure is with low costs.
Description
Technical field
The utility model relates to robot technology field, particularly relates to a kind of obstacle-crossing robot.
Background technology
It is inner that existing ball shape robot refers to that a class drive system is positioned at spherical shell (or spheroid), is realized the robot of spheroid motion by interior type of drive, and ball shape robot can be applicable to the fields such as planetary detection, environmental monitoring, defence equipment, amusement. Traditional ball shape robot can only move in smooth plane, runs into the obstacle such as gully, step and will lose motor capacity.
Practical novel content
The purpose of this utility model is intended to overcome at least one defect of existing ball shape robot, it is provided that a kind of obstacle-crossing robot, it can jump out gully, crosses the obstacles such as step.
Especially, the utility model provides a kind of obstacle-crossing robot, comprising:
Central shaft, extends along horizontal transverse direction;
Two can folding rotary disc assembly, described two can be arranged at the two ends of described central shaft by folding rotary disc assembly, and at least two rotating disks and at least one coupling device can be comprised by folding rotary disc assembly described in each, rotating disk described in each is rotatably installed on described central shaft; And coupling device described in each is configured to make one in two described rotating disks to have unfolded position and folded position relative to another, can have expansion state and folded state by folding rotary disc assembly so that described; And, described can folding rotary disc assembly be in expansion state time described in total barycenter of at least two rotating disks be positioned on described central shaft;
Two drive units, drive unit described in each be configured to described in one can folding rotary disc assembly be in expansion state time drive described at least two dial rotation, and/or described in one can folding rotary disc assembly be in folded state time drive dial rotation described at least one to the front of described central shaft or rear;With
Two brake assemblies, brake assemblies described in each is configured to be in expansion state and when rotating under the drive of a described drive unit, this can carried out at least two rotating disks brake described in folding rotary disc assembly by folding rotary disc assembly described in one.
Can selection of land, coupling device described in each comprises the convex post on the described rotating disk being arranged in two described rotating disks, and the stroke hole being formed on rotating disk described in another, and described convex post inserts described stroke hole.
Can selection of land, coupling device described in each is flexible connecting member, and a lateral edges of the described rotating disk that its one end is fixed in two described rotating disks, its other end is fixed on the central authorities of rotating disk described in another.
Can selection of land, the quality of described at least two rotating disks is equal, and the barycenter of described at least two rotating disks is equal to the distance of described central shaft.
Can selection of land, the barycenter of described at least two rotating disks is in same plane.
Can selection of land, described at least two rotating disks comprise the first rotating disk and the 2nd rotating disk, and described 2nd rotating disk is limited with rotation cavity, and described first rotating disk can be arranged in the rotation cavity of described 2nd rotating disk with producing or proceed to.
Can selection of land, described at least two rotating disks also comprise the 3rd rotating disk, and described 3rd rotating disk is limited with rotation cavity, and described 2nd rotating disk can be arranged in the rotation cavity of described 3rd rotating disk with producing or proceed to;
At least one coupling device described comprises the first coupling device connecting described first rotating disk and described 2nd rotating disk, and connects described 2nd rotating disk and the 2nd coupling device of described 3rd rotating disk; And
Drive unit described in each is configured to drive described first dial rotation, or
Drive unit described in each is configured to drive described 3rd dial rotation.
Can selection of land, rotating disk described in each has ring section portion and link rod part, and one end of described link rod part is connected to described ring section portion, and the other end of described link rod part is rotatably installed on described central shaft.
Can selection of land, described obstacle-crossing robot also comprises two structure dishes, described two structure dishes be fixed on described central shaft two ends and described two can the inner side of folding rotary disc assembly, structure dish described in each has been offered four grooves; And brake assemblies comprises described in each:
Four motors, are fixed on the interior side of described structure dish;
Four brake arms, the output shaft of a described motor is fixed in one end of brake arm described in each;
Four brake facings, the other end being fixed on a described brake arm of brake facing described in each; And
Brake arm described in each makes the described brake facing on it brake by a described groove under the drive of a described motor can folding rotary disc assembly described in one.
Can selection of land, described obstacle-crossing robot also comprises:
Housing, spherical in shape or elliposoidal, and be made up of transparent material; With
Camera, described camera is connected with described central shaft by union lever.
Obstacle-crossing robot of the present utility model because have can folding rotary disc assembly, eccentric block can be can be used as when being in folded state use by folding rotary disc assembly, move ahead for driving obstacle-crossing robot, turn and retrogressing etc.; Can folding rotary disc assembly when being in expansion state, high-speed rotation can be carried out and anxious under high-speed rotation stop, with utilize each can the rotational inertia of at least two rotating disks in folding rotary disc assembly make robot carry out anxious turning over, jump etc. And, it is possible to can in the process jumped of the transient state of folding rotary disc assembly high-speed rotation or robot so that the unification of multiple rotating disk becomes eccentric wheel and stops at appointment orientation, thus can control whole body and jump so that motion is not by the restriction that outside atmosphere is severe.Can folding rotary disc assembly one-object-many-purposes, and structure is simple, and cost is low.
Further, obstacle-crossing robot of the present utility model is preferably ball shape robot or elliposoidal robot, because of the closure of himself, it is possible to walk on the ground etc. of deep water, desert, marsh, dirt; Inner motion structure is not by the impact of external conditions, thus realizes the motion of full landform, collocation camera, and the picture real-time Transmission that can will scout, becomes a real meaning and obtain full landform Scouting robotic people.
According to hereafter by reference to the accompanying drawings to the detailed description of the utility model specific embodiment, those skilled in the art will understand above-mentioned and other objects, advantage and feature of the present utility model more.
Accompanying drawing explanation
Specific embodiments more of the present utility model are hereinafter described with reference to the accompanying drawings by way of example, and not by way of limitation in detail. Reference numeral identical in accompanying drawing denotes same or similar parts or part. Those skilled in the art should understand that, these accompanying drawings may not be drawn in proportion. In accompanying drawing:
Fig. 1 is the schematic structure figure of the obstacle-crossing robot according to the utility model embodiment;
Fig. 2 is the schematic internal setup figure of obstacle-crossing robot shown in Fig. 1;
Fig. 3 is can the schematic isometric structure iron of folding rotary disc assembly in obstacle-crossing robot shown in Fig. 1;
Fig. 4 can be in the schematic structure figure of expansion state by folding rotary disc assembly in obstacle-crossing robot shown in Fig. 1;
Fig. 5 can be in the schematic structure figure of an eccentric state by folding rotary disc assembly in obstacle-crossing robot shown in Fig. 1.
Embodiment
Fig. 1 is the schematic structure figure of the obstacle-crossing robot according to the utility model embodiment. As shown in Figure 1, and referring to figs. 2 to Fig. 5, the utility model embodiment provides a kind of obstacle-crossing robot, and it can comprise housing 1, central shaft 2, two can folding rotary disc assembly 3, two drive units 4 and two brake assemblies 5. Housing 1 can spherical in shape or elliposoidal. Central shaft 2 is installed in housing 1 along horizontal transverse direction with extending.
Two can be arranged at the two ends of central shaft 2 by folding rotary disc assembly 3. Each can comprise at least two rotating disks and at least one coupling device by folding rotary disc assembly 3. Each rotating disk is rotatably installed on central shaft 2, and each coupling device is configured to make one in two rotating disks to have unfolded position and folded position relative to another, so that expansion state and folded state can be had folding rotary disc assembly 3. And, can folding rotary disc assembly 3 be in expansion state time at least two rotating disks total barycenter be positioned on central shaft 2, can folding rotary disc assembly 3 be in non-deployed condition time, such as, during folded state, eccentric wheel can be can be used as by folding rotary disc assembly 3.
Each drive unit 4 can be drive-motor, be configured to one can folding rotary disc assembly 3 be in expansion state time drive at least two dial rotation, and/or one can folding rotary disc assembly 3 be in folded state time drive at least one dial rotation to the front of central shaft 2 or rear. Specifically, two drive-motor can be installed on the two ends of central shaft 2.
Each brake assemblies 5 is configured to be in expansion state and when rotating under the drive of a drive unit 4, at least two rotating disks of folding rotary disc assembly 3 this can be carried out brake by folding rotary disc assembly 3 at one.
In preferred embodiments more of the present utility model, the quality of at least two rotating disks is equal, and the barycenter of at least two rotating disks is equal to the distance of central shaft 2, and the barycenter of at least two rotating disks is in same plane.Each coupling device comprises the convex post 34 on the rotating disk being arranged in two rotating disks, and the stroke hole 35 being formed on another rotating disk, and convex post 34 inserts stroke hole 35. Such as, in some embodiments, at least two rotating disks are three, comprise the first rotating disk 31 and the 2nd rotating disk 32 and the 3rd rotating disk 33. 2nd rotating disk 32 is limited with rotation cavity, and the first rotating disk 31 can be arranged in the rotation cavity of the 2nd rotating disk 32 with producing or proceed to. 3rd rotating disk 33 is limited with rotation cavity, and the 2nd rotating disk 32 can be arranged in the rotation cavity of the 3rd rotating disk 33 with producing or proceed to. At least one coupling device comprises the first coupling device connecting the first rotating disk 31 and the 2nd rotating disk 32, and connects the 2nd coupling device of the 2nd rotating disk 32 and the 3rd rotating disk 33; And each drive unit 4 be configured to drive first rotating disk 31 rotate, or each drive unit 4 be configured to drive the 3rd rotating disk 33 rotate.
In alternate embodiment more of the present utility model, each coupling device can be flexible connecting member, such as rope, flexible steel wire etc., one lateral edges of the rotating disk that its one end is fixed in two rotating disks, such as a lateral edges of the first rotating disk, its the other end is fixed on the central authorities of another rotating disk, such as the central authorities of the 2nd rotating disk. In this alternate embodiment, two rotating disks (the first rotating disk and the 2nd rotating disk) are preferably in a projection being perpendicular in the plane of central shaft 2 and overlap, with when the first rotating disk is relative to the 2nd dial movement, one lateral edges of the first rotating disk is moveable to the both sides of the edge of the 2nd rotating disk, when a lateral edges of the first rotating disk overlaps with the ipsilateral penumbra of the 2nd rotating disk, first rotating disk and the 2nd rotating disk overlap, and namely the first rotating disk is in folded position relative to the 2nd rotating disk; When a lateral edges of the first rotating disk overlaps with another lateral edges of the 2nd rotating disk, the first rotating disk is in unfolded position relative to the 2nd rotating disk.
In embodiments more of the present utility model, also comprise two structure dishes, 6, two structure dishes 6 be fixed on the two ends of central shaft 2 and two can the inner side of folding rotary disc assembly 3, each structure dish 6 has been offered four grooves. Further, each rotating disk has ring section portion and link rod part, and one end of link rod part is connected to ring section portion, and the other end of link rod part is rotatably installed on central shaft 2. Each brake assemblies 5 comprises four motors, 52, four brake arms 53 and four brake facings 54. Four motors 52 evenly are fixed on the interior side of structure dish 6. The output shaft of a motor is fixed in one end of each brake arm 53. The other end being fixed on a brake arm 53 of each brake facing 54. And, each brake arm 53 makes the brake facing 54 on it brake one by a groove under the drive of a motor can folding rotary disc assembly 3.
In order to better apply this obstacle-crossing robot, it also can comprise camera 7, and camera 7 is connected with central shaft 2 by union lever, such as chain connection. Housing 1 is preferably made up of transparent material, so that camera 7 is taken.
In the utility model embodiment, when obstacle-crossing robot is when move in plane, utilize the characteristic of each coupling device, drive by two drive-motor when at least two rotating disks are fully consolidated in and form bias together. Two of the left and right sides can at least two rotating disks of folding rotary disc assembly 3 rise forward turn highly consistent time, obstacle-crossing robot can carry out advance craspedodrome kinestate.Two of the left and right sides can the one or more rotating disks at least two rotating disks of folding rotary disc assembly 3 rise backward turn highly consistent time, obstacle-crossing robot can carry out retreating craspedodrome kinestate; When in left side can folding rotary disc assembly 3 at least two rotating disks rise turn height higher than right side can folding rotary disc assembly 3 at least two rotating disks rise turn highly then realize turn left a kinestate; When on right side can folding rotary disc assembly 3 at least two rotating disks rise turn height higher than left side can folding rotary disc assembly 3 at least two rotating disks rise turn highly then realize turn right a kinestate.
When getting deeply stuck in gully or little hollow when obstacle-crossing robot, drive-motor first rotates backward (such as, when normally advancing, drive-motor forwards), the coupling device characteristic between rotating disk is utilized to make evenly to separate at least two rotating disks of folding rotary disc assembly 3, expansion state can be in by folding rotary disc assembly 3, start to accelerate to rotate in this case, the situation evenly rotating is made to be issued to the highest rotating speed, owing to three rotating disk quality are equal and distance between barycenter to axle center is equal, therefore do not produce vibrations, both sides can folding rotary disc assembly 3 keep speed equal and the highest time, brake assemblies 5 snub can folding rotary disc assembly 3, drive-motor plugging brakes simultaneously, can at least two rotating disks of folding rotary disc assembly 3 stop to zero velocity by the most anxious under uniform state, the rotational inertia of at least two rotating disks of folding rotary disc assembly 3 can be transferred to whole machine human body body, whole obstacle-crossing robot is made to obtain huge rotational energy, thus can anxious from the predicament of hollow turn over.
When obstacle-crossing robot runs into step plateau etc. higher than the obstacle of the centre of sphere, drive-motor first rotates backward, the coupling device characteristic between rotating disk is utilized to make evenly to separate at least two rotating disks of folding rotary disc assembly 3, expansion state can be in by folding rotary disc assembly 3, start to accelerate to rotate in this case, the situation evenly rotating is made to be issued to the highest rotating speed, owing to three rotating disk quality are equal and distance between barycenter to axle center is equal, therefore do not produce vibrations, both sides can folding rotary disc assembly 3 keep speed equal and be horizontal and speed upwards time, two brake assemblies 5 can snub two the first rotating disks 31, drive-motor plugging brakes simultaneously, three rotating disks of both sides merge stopping, rotating disk becomes eccentric zero velocity state instantaneously under uniform state at a high speed, the rotational inertia of rotating disk makes whole spheroid obtain motional inertia upwards, spheroid is liftoff and rises, jump over the obstacles such as step plateau.
So far, those skilled in the art will recognize that, although multiple exemplary embodiment of the present utility model is illustrate and described herein detailed, but, when not departing from the utility model spirit and scope, still can directly determine according to content disclosed in the utility model or derive other modification many or amendment of meeting the utility model principle. Therefore, scope of the present utility model should be understood and regard as and cover all these other modification or amendments.
Claims (10)
1. an obstacle-crossing robot, it is characterised in that, comprising:
Central shaft, extends along horizontal transverse direction;
Two can folding rotary disc assembly, described two can be arranged at the two ends of described central shaft by folding rotary disc assembly, and at least two rotating disks and at least one coupling device can be comprised by folding rotary disc assembly described in each, rotating disk described in each is rotatably installed on described central shaft;And coupling device described in each is configured to make one in two described rotating disks to have unfolded position and folded position relative to another, can have expansion state and folded state by folding rotary disc assembly so that described; And, described can folding rotary disc assembly be in expansion state time described in total barycenter of at least two rotating disks be positioned on described central shaft;
Two drive units, drive unit described in each be configured to described in one can folding rotary disc assembly be in expansion state time drive described at least two dial rotation, and/or described in one can folding rotary disc assembly be in folded state time drive dial rotation described at least one to the front of described central shaft or rear; With
Two brake assemblies, brake assemblies described in each is configured to be in expansion state and when rotating under the drive of a described drive unit, this can carried out at least two rotating disks brake described in folding rotary disc assembly by folding rotary disc assembly described in one.
2. obstacle-crossing robot according to claim 1, it is characterised in that,
Coupling device described in each comprises the convex post on the described rotating disk being arranged in two described rotating disks, and the stroke hole being formed on rotating disk described in another, and described convex post inserts described stroke hole.
3. obstacle-crossing robot according to claim 1, it is characterised in that,
Coupling device described in each is flexible connecting member, and a lateral edges of the described rotating disk that its one end is fixed in two described rotating disks, its other end is fixed on the central authorities of rotating disk described in another.
4. obstacle-crossing robot according to claim 1, it is characterised in that,
The quality of described at least two rotating disks is equal, and the barycenter of described at least two rotating disks is equal to the distance of described central shaft.
5. obstacle-crossing robot according to claim 1, it is characterised in that,
The barycenter of described at least two rotating disks is in same plane.
6. obstacle-crossing robot according to claim 1, it is characterised in that,
Described at least two rotating disks comprise the first rotating disk and the 2nd rotating disk, and described 2nd rotating disk is limited with rotation cavity, and described first rotating disk can be arranged in the rotation cavity of described 2nd rotating disk with producing or proceed to.
7. obstacle-crossing robot according to claim 6, it is characterised in that,
Described at least two rotating disks also comprise the 3rd rotating disk, and described 3rd rotating disk is limited with rotation cavity, and described 2nd rotating disk can be arranged in the rotation cavity of described 3rd rotating disk with producing or proceed to;
At least one coupling device described comprises the first coupling device connecting described first rotating disk and described 2nd rotating disk, and connects described 2nd rotating disk and the 2nd coupling device of described 3rd rotating disk; And
Drive unit described in each is configured to drive described first dial rotation, or
Drive unit described in each is configured to drive described 3rd dial rotation.
8. obstacle-crossing robot according to claim 7, it is characterised in that,
Rotating disk described in each has ring section portion and link rod part, and one end of described link rod part is connected to described ring section portion, and the other end of described link rod part is rotatably installed on described central shaft.
9. obstacle-crossing robot according to claim 8, it is characterised in that, also comprise two structure dishes,
Described two structure dishes be fixed on described central shaft two ends and described two can the inner side of folding rotary disc assembly, structure dish described in each has been offered four grooves;And
Described in each, brake assemblies comprises:
Four motors, are fixed on the interior side of described structure dish;
Four brake arms, the output shaft of a described motor is fixed in one end of brake arm described in each;
Four brake facings, the other end being fixed on a described brake arm of brake facing described in each; And
Brake arm described in each makes the described brake facing on it brake by a described groove under the drive of a described motor can folding rotary disc assembly described in one.
10. obstacle-crossing robot according to claim 1, it is characterised in that, also comprise:
Housing, spherical in shape or elliposoidal, and be made up of transparent material; With
Camera, described camera is connected with described central shaft by union lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620066524.5U CN205292841U (en) | 2016-01-25 | 2016-01-25 | Can hinder robot more |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620066524.5U CN205292841U (en) | 2016-01-25 | 2016-01-25 | Can hinder robot more |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205292841U true CN205292841U (en) | 2016-06-08 |
Family
ID=56426561
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620066524.5U Withdrawn - After Issue CN205292841U (en) | 2016-01-25 | 2016-01-25 | Can hinder robot more |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205292841U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105711670A (en) * | 2016-01-25 | 2016-06-29 | 李浩亮 | Obstacle-crossing robot |
| CN111267994A (en) * | 2018-12-04 | 2020-06-12 | 中国矿业大学 | Stair climbing robot |
-
2016
- 2016-01-25 CN CN201620066524.5U patent/CN205292841U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105711670A (en) * | 2016-01-25 | 2016-06-29 | 李浩亮 | Obstacle-crossing robot |
| CN105711670B (en) * | 2016-01-25 | 2017-09-15 | 李浩亮 | A kind of obstacle-crossing robot |
| CN111267994A (en) * | 2018-12-04 | 2020-06-12 | 中国矿业大学 | Stair climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160608 Effective date of abandoning: 20170915 |
|
| AV01 | Patent right actively abandoned |