CN103231748B - Inside and outside reinforced structural type configuration-changeable obstacle crossing robot - Google Patents
Inside and outside reinforced structural type configuration-changeable obstacle crossing robot Download PDFInfo
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Abstract
本发明的目的在于提供内外加固结构式可变构型越障机器人，包括车体、主臂、辅助臂，车体的两侧安装有主臂履带支撑架，主臂履带支撑架上从前到后依次安装有动力驱动轮、主臂轮、从动轮，主臂安装在主臂履带支撑架上，主臂的一端连接主臂轮，另一端安装行星轮，辅助臂的两端分别安装第一辅助轮、第二辅助轮，第二辅助轮与从动轮同轴，在主臂履带支撑架上通过行星轮、动力驱动轮、主臂轮、从动轮安装有主臂履带，在辅助臂上通过第一辅助轮和第二辅助轮安装有辅助臂履带。本发明采用了复合主臂结构，对主臂采用内外臂加固式的设计，保证运动过程中主臂的强度，从而提高了越障时车体的平稳性。
The object of the present invention is to provide an internally and externally reinforced variable configuration obstacle-surmounting robot, including a car body, a main arm, and an auxiliary arm. The main arm crawler support frames are installed on both sides of the car body, and the main arm crawler support frames are arranged in sequence from front to back. The power drive wheel, the main arm wheel and the driven wheel are installed. The main arm is installed on the track support frame of the main arm. One end of the main arm is connected to the main arm wheel, and the other end is installed with a planetary wheel. The two ends of the auxiliary arm are respectively installed with the first auxiliary wheel. , the second auxiliary wheel, the second auxiliary wheel is coaxial with the driven wheel, the main arm crawler is installed on the main arm crawler support frame through the planetary wheel, the power driving wheel, the main arm wheel and the driven wheel, and the auxiliary arm passes through the first The auxiliary wheel and the second auxiliary wheel are equipped with auxiliary arm tracks. The invention adopts a composite main arm structure, adopts a reinforced design of inner and outer arms for the main arm, ensures the strength of the main arm during the movement process, and thus improves the stability of the vehicle body when overcoming obstacles.
Description
技术领域technical field
本发明涉及的是一种机器人，具体地说是越障机器人。The present invention relates to a robot, in particular to an obstacle-surmounting robot.
背景技术Background technique
由于救援机器人在9·11事件中的成功应用，引发了人们研究救援机器人的热潮。救援机器人的最重要的部分就是越障机构与机械本体，只有很好的翻越障碍，才能顺利的执行任务。越障机构的移动载体，按其运动机构总体上可分为蛇形即无肢类、轮式、多足式、以及履带式。Due to the successful application of rescue robots in the 9.11 incident, people have started to study the upsurge of rescue robots. The most important part of the rescue robot is the obstacle-surmounting mechanism and the mechanical body. Only when the obstacle is overcome well can the task be carried out smoothly. The mobile carrier of the obstacle-climbing mechanism can be generally divided into serpentine, non-limbed, wheeled, multi-legged, and crawler-type according to its motion mechanism.
蛇形机器人具有运动稳定性好、适应地形能力强和高的牵引力等特点，但多自由度的控制困难，运动速度低。轮式机器人具有结构简单、重量轻、轮式滚动摩擦阻力小和机械效率高等特点，但越过壕沟、台阶的能力差。多足式机器人具有适应地形能力强的特点，能越过大的壕沟和台阶，其缺点是速度慢；轮腿式机器人融合腿式机构的地形适应能力和轮式机构的高速高效性能，其缺点是结构复杂，控制繁琐。履带式机器人因为自身地形适应能力强，控制简单，动载荷小等特点在实际应用中十分广泛。Snake-shaped robots have the characteristics of good motion stability, strong ability to adapt to terrain, and high traction, but the control of multiple degrees of freedom is difficult and the motion speed is low. Wheeled robots have the characteristics of simple structure, light weight, small rolling friction resistance and high mechanical efficiency, but they have poor ability to cross ditches and steps. The multi-legged robot has the characteristics of strong ability to adapt to the terrain and can cross large ditches and steps. Its disadvantage is that it is slow; the wheel-legged robot combines the terrain adaptability of the leg mechanism and the high-speed and high-efficiency performance of the wheel mechanism. The disadvantages are The structure is complex and the control is cumbersome. Crawler robots are widely used in practical applications because of their strong terrain adaptability, simple control, and small dynamic loads.
发明内容Contents of the invention
本发明的目的在于提供适用于灾后救援、环境侦查等的内外加固结构式可变构型越障机器人。The object of the present invention is to provide an obstacle-climbing robot with an internally and externally reinforced structure and a variable configuration that is suitable for post-disaster rescue and environmental investigation.
本发明的目的是这样实现的：The purpose of the present invention is achieved like this:
本发明内外加固结构式可变构型越障机器人，其特征是：包括车体、主臂、辅助臂，车体的两侧安装有主臂履带支撑架，主臂履带支撑架上从前到后依次安装有动力驱动轮、主臂轮、从动轮，主臂安装在主臂履带支撑架上，主臂的一端连接主臂轮，另一端安装行星轮，辅助臂的两端分别安装第一辅助轮、第二辅助轮，第二辅助轮与从动轮同轴，在主臂履带支撑架上通过行星轮、动力驱动轮、主臂轮、从动轮安装有主臂履带，在辅助臂上通过第一辅助轮和第二辅助轮安装有辅助臂履带，动力驱动轮连接动力驱动电机，从动轮连接辅助臂驱动电机，主臂轮连接主臂驱动电机，动力驱动电机、辅助臂驱动电机、主臂驱动电机均安装在车体上。The present invention is an internally and externally reinforced variable configuration obstacle-surpassing robot, which is characterized in that: it includes a car body, a main arm, and an auxiliary arm. The main arm crawler support frame is installed on both sides of the car body, and the main arm crawler support frame is sequentially arranged from front to back. The power drive wheel, the main arm wheel and the driven wheel are installed. The main arm is installed on the track support frame of the main arm. One end of the main arm is connected to the main arm wheel, and the other end is installed with a planetary wheel. The two ends of the auxiliary arm are respectively installed with the first auxiliary wheel. , the second auxiliary wheel, the second auxiliary wheel is coaxial with the driven wheel, the main arm crawler is installed on the main arm crawler support frame through the planetary wheel, the power driving wheel, the main arm wheel and the driven wheel, and the auxiliary arm passes through the first The auxiliary wheel and the second auxiliary wheel are equipped with auxiliary arm crawlers, the power drive wheel is connected with the power drive motor, the driven wheel is connected with the auxiliary arm drive motor, the main arm wheel is connected with the main arm drive motor, the power drive motor, the auxiliary arm drive motor, and the main arm drive The motors are mounted on the car body.
本发明还可以包括：The present invention may also include:
1、所述的主臂包括外臂、内臂；外臂包括滑板、上压板、底板、上挂钩、下挂钩，上压板为上下两层，滑板位于两层上压板之间，底板与上压板下端相连，上压板中部开有通透的槽，上挂钩安装在两层上压板的上部，下挂钩安装在滑板上并位于上压板中部的槽内，上挂钩和下挂钩之间安装有拉伸弹簧，滑板可在上压板之间移动，当滑板位于最下方时，滑板的下端位于底板内；内臂的结构除不包括上挂钩、下挂钩和弹簧外，其余与外臂相同、对称布置，行星轮安装在外臂和内臂的上端部之间，主臂轮安装在外臂和内臂的下端部之间。1. The main arm includes an outer arm and an inner arm; the outer arm includes a slide plate, an upper platen, a bottom plate, an upper hook, and a lower hook. The lower ends are connected, and there is a transparent groove in the middle of the upper platen. The upper hook is installed on the upper part of the two-layer upper platen. The lower hook is installed on the slide plate and is located in the groove in the middle of the upper platen. A stretching The spring, the slide plate can move between the upper platen, when the slide plate is at the bottom, the lower end of the slide plate is located in the bottom plate; the structure of the inner arm is the same as that of the outer arm except for the upper hook, the lower hook and the spring, and the rest are arranged symmetrically. The planetary gear is installed between the upper end of the outer arm and the inner arm, and the main arm wheel is installed between the lower end of the outer arm and the inner arm.
本发明的优势在于：The advantages of the present invention are:
1.机器人采用了复合主臂结构，在设计主臂时，考虑到机构越障的复杂性，对主臂采用内外臂加固式的设计，保证运动过程中主臂的强度，从而提高了越障时车体的平稳性。1. The robot adopts a composite main arm structure. When designing the main arm, considering the complexity of the mechanism to overcome obstacles, the main arm adopts a reinforced design of the inner and outer arms to ensure the strength of the main arm during the movement, thereby improving the difficulty of overcoming obstacles. stability of the vehicle body.
2.为了进一步提高车体的地形适应能力，左右两边主臂分别采用独立的主臂驱动电机驱动，从而机器人能够获得更多的运动姿态。2. In order to further improve the terrain adaptability of the car body, the left and right main arms are driven by independent main arm drive motors, so that the robot can obtain more motion postures.
3.辅助臂的设计上，采用轴套轴结构，一方面，使辅助臂驱动电机能够独立地控制辅助臂的运动而对车体的运行不产生影响，另一方面，轴套轴结构的应用，使辅助臂上的辅助臂行进轮对车体的行进提供了一定的动力与支撑，进一步的增强了机构运行的平稳性。3. In the design of the auxiliary arm, the shaft sleeve shaft structure is adopted. On the one hand, the driving motor of the auxiliary arm can independently control the movement of the auxiliary arm without affecting the operation of the car body. On the other hand, the application of the shaft sleeve shaft structure , so that the auxiliary arm traveling wheel on the auxiliary arm provides a certain amount of power and support for the advancement of the car body, further enhancing the stability of the mechanism operation.
附图说明Description of drawings
图1为本发明的传动图；Fig. 1 is a transmission diagram of the present invention;
图2为本发明的结构图；Fig. 2 is a structural diagram of the present invention;
图3a为本发明的主臂结构图a，图3b为本发明的主臂结构图b，图3c为本发明的主臂结构图c，图3d为本发明的主臂结构图d，图3e为本发明的主臂结构图e；Fig. 3a is the main arm structure diagram a of the present invention, Fig. 3b is the main arm structure diagram b of the present invention, Fig. 3c is the main arm structure diagram c of the present invention, Fig. 3d is the main arm structure diagram d of the present invention, Fig. 3e is the main arm structure diagram e of the present invention;
图4为本发明的辅助臂结构图；Fig. 4 is a structural diagram of the auxiliary arm of the present invention;
图5为本发明上台阶前示意图。Fig. 5 is a schematic diagram of the present invention before going up the steps.
图6为本发明上台阶中Ⅰ示意图。Fig. 6 is a schematic diagram of step I of the present invention.
图7为本发明上台阶中Ⅱ示意图。Fig. 7 is a schematic diagram of II in the upper step of the present invention.
图8为本发明上台阶后示意图。Fig. 8 is a schematic diagram of the present invention after stepping up.
图9为本发明下台阶前示意图。Fig. 9 is a schematic diagram of the present invention before going down a step.
图10为本发明下台阶中Ⅰ示意图。Fig. 10 is a schematic diagram of middle I of the lower step of the present invention.
图11为本发明下台阶中Ⅱ示意图。Fig. 11 is a schematic diagram of II in the lower step of the present invention.
图12为本发明下台阶后示意图。Fig. 12 is a schematic diagram of the present invention after stepping down.
具体实施方式Detailed ways
下面结合附图举例对本发明做更详细地描述：The present invention is described in more detail below in conjunction with accompanying drawing example:
结合图1～12，本发明包括的部件：机器人是由车体6，主臂驱动电机7，驱动电机12，辅助臂驱动电机5，动力驱动轮13，从动轮8，行星轮11，履带2，履带支撑架10，辅助臂履带4，辅助臂履带支撑架9，以及整个主臂1，辅助臂3驱动部分等构成。动力驱动轮13分布于车体6前端两侧，主臂1位于动力驱动轮13左右两侧，辅助臂3位于从动轮8左右两侧。In conjunction with Fig. 1～12, the parts that the present invention comprises: robot is by car body 6, main arm drive motor 7, drive motor 12, auxiliary arm drive motor 5, power drive wheel 13, driven wheel 8, planetary wheel 11, crawler belt 2 , crawler support frame 10, auxiliary arm crawler belt 4, auxiliary arm crawler support frame 9, and the entire main arm 1, auxiliary arm 3 driving parts and the like. The power driving wheel 13 is distributed on both sides of the front end of the car body 6 , the main arm 1 is located on the left and right sides of the power driving wheel 13 , and the auxiliary arm 3 is located on the left and right sides of the driven wheel 8 .
主臂1分内臂16与外臂14，见图3，内外臂间通过一支撑板15连接，内外臂均包括底板22、上压板19，侧压板23、拉伸弹簧20、上挂钩18、下挂钩21和滑板17。滑板位于两层上压板之间，底板与上压板下端相连，上压板中部开有通透的槽，上挂钩安装在两层上压板的上部，下挂钩安装在滑板上并位于上压板中部的槽内。当主臂1摆动使得履带2越来越松弛时，拉伸弹簧20的拉力使滑板17向上滑动，使得履带2张紧，当主臂1摆动使得履带2越来越张紧时，滑板17向下移动，使得拉伸弹簧20拉伸，通过这种主臂可伸缩的方法使得履带2时刻保持张紧状态，从而使车体6平稳而快速的越过障碍。采用内臂16与外臂14相结合的结构，使主臂1的强度大大增强，提高了整个车体6的越障能力。Main arm 1 is divided into inner arm 16 and outer arm 14, see Fig. 3, is connected by a support plate 15 between inner and outer arm, inner and outer arm all comprises base plate 22, upper pressing plate 19, side pressing plate 23, extension spring 20, upper hook 18, Lower hook 21 and slide plate 17. The slide plate is located between the two layers of upper platen, the bottom plate is connected with the lower end of the upper platen, there is a transparent groove in the middle of the upper platen, the upper hook is installed on the upper part of the two layers of upper platen, the lower hook is installed on the slide plate and is located in the groove in the middle of the upper platen Inside. When the main arm 1 swings and the crawler belt 2 becomes looser and looser, the tension of the tension spring 20 makes the slide plate 17 slide upward, making the crawler belt 2 tense, and when the main arm 1 swings makes the crawler belt 2 more and more tense, the slide plate 17 moves down , so that the tension spring 20 is stretched, and the crawler belt 2 is kept in a tense state at all times through this method of stretching the main arm, so that the vehicle body 6 can smoothly and quickly pass over obstacles. The combination structure of the inner arm 16 and the outer arm 14 greatly enhances the strength of the main arm 1 and improves the obstacle-surmounting capability of the entire vehicle body 6 .
辅助臂3采用轴套轴结构，见图4，包括辅助臂驱动轴24，辅助臂支撑轴25，驱动轴轴承26，支撑轴轴承27，辅助臂履带4，辅助臂履带支撑架9，第二辅助轮28和第一辅助轮29。辅助臂驱动轴24直接与辅助臂驱动电机5相连接，通过驱动轴轴承26安装于辅助臂支撑轴内部，从而使辅助臂驱动电机5能独立控制辅助臂2运动，辅助臂驱动轴24另一端与辅助臂履带支撑架9相连，以控制整个辅助臂3的运动，为使辅助臂履带支撑架9对从动轮8及第二辅助轮28的转动不产生影响，内侧的辅助臂履带支撑架9通过支撑轴轴承27与辅助臂支撑轴25安装。辅助臂3采用的轴套轴结构，能够使辅助臂3的运动与车体6的运动互不干扰，提高了机构越障的平稳性。The auxiliary arm 3 adopts a shaft sleeve shaft structure, as shown in Fig. 4, including the auxiliary arm drive shaft 24, the auxiliary arm support shaft 25, the drive shaft bearing 26, the support shaft bearing 27, the auxiliary arm track 4, the auxiliary arm track support frame 9, the second auxiliary wheels 28 and first auxiliary wheels 29 . The auxiliary arm drive shaft 24 is directly connected with the auxiliary arm drive motor 5, and is installed inside the auxiliary arm support shaft through the drive shaft bearing 26, so that the auxiliary arm drive motor 5 can independently control the movement of the auxiliary arm 2, and the other end of the auxiliary arm drive shaft 24 It is connected with the auxiliary arm crawler support frame 9 to control the movement of the entire auxiliary arm 3. In order to make the auxiliary arm crawler support frame 9 not affect the rotation of the driven wheel 8 and the second auxiliary wheel 28, the inner auxiliary arm crawler support frame 9 It is installed with the auxiliary arm support shaft 25 through the support shaft bearing 27 . The bush shaft structure adopted by the auxiliary arm 3 can make the movement of the auxiliary arm 3 and the movement of the car body 6 not interfere with each other, and improves the stability of the mechanism for overcoming obstacles.
在本机器人的机构几何关系中。一方面，在一侧主臂处的两焦点处布置驱动轮13，从动轮8，二者通过履带支撑架10连接固定。驱动轮13，从动轮8，行星轮11通过履带2相连从而实现三者同步转动。另一方面，驱动电机12连接在驱动轮13上提供底盘前进动力。In the mechanism geometric relationship of this robot. On the one hand, the driving wheel 13 and the driven wheel 8 are arranged at the two focal points of the main arm on one side, and the two are connected and fixed through the crawler support frame 10 . The driving wheel 13, the driven wheel 8, and the planetary wheel 11 are connected through the crawler belt 2 so as to realize the synchronous rotation of the three. On the other hand, the driving motor 12 is connected to the driving wheel 13 to provide the forward power of the chassis.
当车体6在地面31行驶时，车体6上的主臂1上移，驱动电机12驱动车体6前进，见图5。遇到台阶30时，见图6，第一阶段，主臂驱动电机12驱动车体6两侧主臂1下移，一方面，提高车体6重心，另一方面，令履带2前端“攀爬”至台阶30上。辅助臂驱动电机5驱动辅助臂3下移至与地面31相接触，使辅助臂3上行进轮28对车体6“攀爬”台阶提供驱动力。第二阶段，当车体6重心上移到合理高度时，见图7，辅助臂驱动电机5驱动车体6后侧两端辅助臂3下移，支撑车体6越过台阶30，驱动电机12驱动车体6继续前进。同时，主臂驱动电机7驱动主臂1上移，辅助臂驱动电机5驱动辅助臂3上移，见图8。至此，车体6完全越过台阶30。When the vehicle body 6 is running on the ground 31, the main arm 1 on the vehicle body 6 moves up, and the driving motor 12 drives the vehicle body 6 to advance, as shown in FIG. 5 . When step 30 is encountered, see Fig. 6, in the first stage, the main arm drive motor 12 drives the main arms 1 on both sides of the car body 6 to move down. Climb" to step 30. The auxiliary arm drive motor 5 drives the auxiliary arm 3 to move down to contact with the ground 31, so that the traveling wheels 28 on the auxiliary arm 3 provide driving force for the car body 6 to "climb" the steps. In the second stage, when the center of gravity of the vehicle body 6 moves up to a reasonable height, as shown in Figure 7, the auxiliary arm driving motor 5 drives the auxiliary arm 3 at both ends of the rear side of the vehicle body 6 to move down, supporting the vehicle body 6 to cross the step 30, and the drive motor 12 Drive car body 6 to move on. At the same time, the main arm drive motor 7 drives the main arm 1 to move upward, and the auxiliary arm drive motor 5 drives the auxiliary arm 3 to move upward, as shown in FIG. 8 . So far, the vehicle body 6 has completely moved over the step 30 .
在主臂驱动电机7驱动下，主臂1位置的改变令履带2与地面30的接触面积发生变化，从而使力也在发生变化，直至获得合适的形状、抓地力等参数，应用灵活。在“攀爬”阶梯时，其运动过程与其类似。Driven by the main arm drive motor 7, the change of the position of the main arm 1 changes the contact area between the crawler belt 2 and the ground 30, so that the force also changes until the appropriate shape, grip and other parameters are obtained, and the application is flexible. When "climbing" a ladder, its movement process is similar.
当机构遇到下台阶30时。首先，主臂驱动电机7驱动车体6两侧主臂1下移见图9至履带2前端接触到地面31，同时，辅助臂驱动电机5驱动车体6后侧两端辅助臂3下移。其次，驱动电机12驱动车体6前进，见图10，同时通过操作主臂驱动电机7来调整主臂1在车体6前进过程中的“变形”状态，见图11，使履带2充分接触地面31，获得最佳的力、几何状态等参数。再次，主臂驱动电机7驱动车体6两侧主臂1渐渐的同步向上移动，辅助臂驱动电机5也驱动辅助臂3缓缓上移。最后，当车体6重心降低到合理高度，见图12、履带2前端部分与地面31完全接触。驱动电机12驱动车体6继续前进。同时，主臂驱动电机7驱动主臂1上移，辅助臂驱动电机5也驱动辅助臂3上移。至此，整个车体6顺利完成下台阶31的结构变化过程。When the body encounters the next step 30. First, the main arm drive motor 7 drives the main arm 1 on both sides of the car body 6 to move down. See Figure 9 until the front end of the crawler belt 2 touches the ground 31. At the same time, the auxiliary arm drive motor 5 drives the auxiliary arm 3 at both ends of the rear side of the car body 6 to move down. . Secondly, the drive motor 12 drives the car body 6 forward, as shown in Figure 10, and at the same time adjusts the "deformation" state of the main arm 1 during the forward process of the car body 6 by operating the main arm drive motor 7, as shown in Figure 11, so that the crawler belt 2 is fully contacted. Ground 31 to obtain the best parameters such as force and geometric state. Again, the main arm drive motor 7 drives the main arm 1 on both sides of the car body 6 to move upwards gradually, and the auxiliary arm drive motor 5 also drives the auxiliary arm 3 to move upwards slowly. Finally, when the center of gravity of the car body 6 is lowered to a reasonable height, as shown in FIG. 12 , the front end of the crawler belt 2 is in full contact with the ground 31 . The driving motor 12 drives the vehicle body 6 to move forward. Simultaneously, the main arm driving motor 7 drives the main arm 1 to move upward, and the auxiliary arm driving motor 5 also drives the auxiliary arm 3 to move upward. So far, the entire vehicle body 6 has successfully completed the structural change process of the lower step 31 .
本机器人可以根据不同的地形调节车体6底盘履带2的形状，使车体6重心在对称的轴内上下移动。稳定性和越障性都能够很好的实现。The robot can adjust the shape of the car body 6 chassis crawler belts 2 according to different terrains, so that the center of gravity of the car body 6 moves up and down in a symmetrical axis. Both stability and obstacle clearance can be achieved very well.
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| CN103863424B (en) * | 2014-02-26 | 2017-11-28 | 南昌大学 | Adapt to the crusing robot of complicated unstructured landform |
| ES2539537B1 (en) * | 2014-12-26 | 2016-01-07 | Margolles Logistics, S.L. | Fork pallet truck |
| CN104527825B (en) * | 2015-01-15 | 2016-08-31 | 天津智达机器人有限公司 | A kind of drive lacking caterpillar type robot mobile platform |
| CN104859735B (en) * | 2015-05-07 | 2017-01-25 | 青岛理工大学 | Turnover obstacle crossing vehicle |
| CN105292283A (en) * | 2015-12-01 | 2016-02-03 | 黑龙江科技大学 | Crawler-type underactuated robot with shape self-adaptation function and transmission method |
| CN107161225B (en) * | 2017-05-16 | 2019-05-07 | 中国民航大学 | Deformable crawler walking device |
| CN110126931A (en) * | 2019-05-24 | 2019-08-16 | 北京深醒科技有限公司 | A shape-changing tracked cellar patrol robot |
| CN110450869B (en) * | 2019-08-02 | 2024-05-24 | 北京交通大学 | Self-adaptive underactuated tracked robot |
| CN112407079B (en) * | 2020-12-09 | 2024-07-05 | 东北林业大学 | Crawler-type forest fire early monitoring robot |
| CN113306642B (en) * | 2021-06-15 | 2022-11-22 | 重庆大学 | An all-terrain two-way obstacle-surpassing robot and its dynamically deformable crawler chassis |
| CN116605322B (en) * | 2023-05-22 | 2025-11-14 | 合肥哈工特安智能科技有限公司 | A reconfigurable robot and its transforming mechanism |
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