CN109484499A - A kind of barrier-surpassing robot - Google Patents
A kind of barrier-surpassing robot Download PDFInfo
- Publication number
- CN109484499A CN109484499A CN201811417614.4A CN201811417614A CN109484499A CN 109484499 A CN109484499 A CN 109484499A CN 201811417614 A CN201811417614 A CN 201811417614A CN 109484499 A CN109484499 A CN 109484499A
- Authority
- CN
- China
- Prior art keywords
- barrier
- controller
- rack
- driving motor
- surpassing robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000000007 visual effect Effects 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 210000000245 forearm Anatomy 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims 2
- 230000004888 barrier function Effects 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 230000009975 flexible effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of barrier-surpassing robots, including rack, crawler belt and two mechanical arm mechanisms；The control system includes controller, remote console, visual sensor, driving motor and rotary electric machine, and the controller accesses AC power source 220V.The robot can find the barrier around robot by visual sensor, and according to distribution of obstacles situation, by the idler wheel on mechanical arm, increase and the frictional force on ground and the mode of power achieve the purpose that obstacle detouring.
Description
Technical field
The invention belongs to robotic technology fields, are related to a kind of barrier-surpassing robot.
Background technique
Mobile barrier-surpassing robot local environment is mostly complicated unstructured moving grids, such as passes through climb and fall section complexity road
Condition, it is therefore desirable to which barrier-surpassing robot has high maneuverability, powerful environment sensing ability and quick respond.It is main at present
Obstacle detouring mode have: wheeled, leg formula, crawler type.Wherein wheeled efficiency highest, but adaptability is worst；And the adaptation of leg formula
Ability is most strong, but efficiency is worst；Although caterpillar have good grade climbing performance and certain obstacle climbing ability, efficiency compares
Low, flexible property is poor.Therefore, it is good to be badly in need of developing a kind of not only adaptable, high-efficient, flexible property, but also can
Cross the barrier-surpassing robot in the section of various complex road conditions
Summary of the invention
To solve the above problems, a kind of barrier-surpassing robot of the present invention, the robot is it can be found that barrier around robot
Hinder object, according to distribution of obstacles situation, operated by staff, increases the mode with frictional force and power, reach obstacle detouring
Purpose.
The present invention is specially a kind of barrier-surpassing robot, including rack, crawler belt and two mechanical arm mechanisms；The control system
Including controller, remote console, visual sensor, driving motor and rotary electric machine, the controller accesses AC power source
220V。
The further crawler belt is divided into two groups, is mounted on frame bottom, main track assembly includes front-wheel, rear-wheel and master
Crawler belt, the front wheels and rear wheels rotation are mounted on the rack, and the main crawler belt is mounted in front wheels and rear wheels.
The further visual sensor is mounted on four sides of robot, and the visual sensor passes through connecting line and control
Device processed is connected.
The further mechanical arm mechanism includes two mechanical arms, and the end of each mechanical arm is mounted with idler wheel.
The further remote console can carry out remote tele-operation to controller.
During the further controller is mounted in rack, driving motor control terminal passes through the arteries and veins of connecting line and controller
Output end to be rushed to be electrically connected, the control terminal of the servo motor is electrically connected by the pulse output end of connecting line and controller,
The infrared sensor is mounted on the surrounding of rack, and is electrically connected by the analog input end of connecting line and controller.
The further mechanical arm mechanism includes forearm component, rear arm component and servo motor, the forearm component and
It is connected between arm component by servo motor afterwards, the power input of the servo motor accesses AC power source 220V, described to watch
The pulse input end for taking motor is electrically connected by connecting line and pulse output module port.
The further driving motor is two groups, is mounted on front and back in rack, secures on the main shaft of preceding driving motor
Front-wheel fixes rear-wheel on the main shaft of rear driving motor, and the power input of the driving motor accesses AC power source 220V, described
The pulse input end of driving motor is electrically connected by connecting line and pulse output module port.
The further rotary electric machine is mounted on the rack, and is mounted with that runner, the runner pass through biography in the rack
Band is sent to connect with the idler wheel of mechanical arm.
Detailed description of the invention
Fig. 1 is to invent a kind of barrier-surpassing robot overall structure diagram；
In figure: 1, rack；2, crawler belt；3, mechanical arm mechanism；4, controller；5, remote console；6, visual sensor；7,
Driving motor；8, rotary electric machine；9, runner；10, idler wheel；11, servo motor.
Specific embodiment
It elaborates with reference to the accompanying drawing to inventing a kind of barrier-surpassing robot specific embodiment.
As shown in Figure 1, the present invention is specially a kind of barrier-surpassing robot, including rack 1, crawler belt 2 and two mechanical arm mechanisms
3；The control system includes controller 4, remote console 5, visual sensor 6, driving motor 7 and rotary electric machine 8, the control
Device 4 processed accesses AC power source 220V.
It is two groups that wherein the crawler belt 2, which is divided to, is mounted on 1 bottom end of rack, main 2 component of crawler belt includes front-wheel, rear-wheel and master
Crawler belt 2, the front wheels and rear wheels rotation are mounted in rack 1, and the main crawler belt 2 is mounted in front wheels and rear wheels.Wherein institute
Four sides that visual sensor 6 is mounted on robot are stated, the visual sensor 6 is connected by connecting line with controller 4.Wherein institute
Stating mechanical arm mechanism 3 includes two mechanical arms, and the end of each mechanical arm is mounted with idler wheel 10.The wherein remote console 5
Remote tele-operation can be carried out to controller 4.During wherein the controller 4 is mounted in rack 1,7 control terminal of driving motor is logical
The pulse output end for crossing connecting line and controller 4 is electrically connected, and the control terminal of the servo motor 11 passes through connecting line and control
The pulse output end of device 4 is electrically connected, and the infrared sensor is mounted on the surrounding of rack 1, and passes through connecting line and control
The analog input end of device 4 is electrically connected.Wherein the mechanical arm mechanism 3 includes forearm component, rear arm component and servo motor
11, it is connected between the forearm component and rear arm component by servo motor 11, the power input termination of the servo motor 11
Enter AC power source 220V, the pulse input end of the servo motor 11 passes through connecting line and pulse output module port electrical property phase
It connects.Wherein the driving motor 7 is two groups, is mounted on front and back in rack 1, secures front-wheel on the main shaft of preceding driving motor 7, after
Rear-wheel is fixed on the main shaft of driving motor 7, the power input of the driving motor 7 accesses AC power source 220V, the driving
The pulse input end of motor 7 is electrically connected by connecting line and pulse output module port.Wherein the rotary electric machine 8 is mounted on
In rack 1, it is mounted with that runner 9, the runner 9 are connected by the idler wheel 10 of conveyer belt and mechanical arm in the rack 1.
Finally it should be noted that only illustrating technical solution of the present invention rather than its limitations in conjunction with above-described embodiment.Institute
The those of ordinary skill in category field is it is to be understood that those skilled in the art can repair a specific embodiment of the invention
Change or equivalent replacement, but these modifications or change are being applied among pending claims.
Claims (9)
1. a kind of barrier-surpassing robot, which is characterized in that the robot includes rack, crawler belt and two mechanical arm mechanisms；It is described
Control system includes controller, remote console, visual sensor, driving motor and rotary electric machine, and the controller access is handed over
Galvanic electricity source 220V.
2. a kind of barrier-surpassing robot according to claim 1, which is characterized in that the crawler belt is divided into two groups, is mounted on machine
Frame bottom end, main track assembly include front-wheel, rear-wheel and main crawler belt, and the front wheels and rear wheels rotation is mounted on the rack, institute
Main crawler belt is stated to be mounted in front wheels and rear wheels.
3. a kind of barrier-surpassing robot according to claim 1, which is characterized in that the visual sensor is mounted on robot
Four sides, the visual sensor is connected by connecting line with controller.
4. a kind of barrier-surpassing robot according to claim 1, which is characterized in that the mechanical arm mechanism includes two machinery
The end of arm, each mechanical arm is mounted with idler wheel.
5. a kind of barrier-surpassing robot according to claim 1, which is characterized in that the remote console can be to controller
Carry out remote tele-operation.
6. a kind of barrier-surpassing robot according to claim 1, which is characterized in that during the controller is mounted in rack,
Driving motor control terminal is electrically connected by the pulse output end of connecting line and controller, and the control terminal of the servo motor passes through
The pulse output end of connecting line and controller is electrically connected, and the infrared sensor is mounted on the surrounding of rack, and passes through company
The analog input end of wiring and controller is electrically connected.
7. a kind of barrier-surpassing robot according to claim 1, which is characterized in that the mechanical arm mechanism includes forearm group
Part, rear arm component and servo motor are connected between the forearm component and rear arm component by servo motor, the servo motor
Power input access AC power source 220V, the pulse input end of the servo motor passes through connecting line and pulse output module
Port is electrically connected.
8. a kind of barrier-surpassing robot according to claim 1, which is characterized in that the driving motor is two groups, is mounted on
Before and after in rack, front-wheel is secured on the main shaft of preceding driving motor, rear-wheel, the driving electricity are fixed on the main shaft of rear driving motor
The power input of machine accesses AC power source 220V, and the pulse input end of the driving motor exports mould by connecting line and pulse
Block port is electrically connected.
9. a kind of barrier-surpassing robot according to claim 1, which is characterized in that the rotary electric machine is mounted on the rack,
It is mounted with that runner, the runner are connected by the idler wheel of conveyer belt and mechanical arm in the rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811417614.4A CN109484499A (en) | 2018-11-26 | 2018-11-26 | A kind of barrier-surpassing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811417614.4A CN109484499A (en) | 2018-11-26 | 2018-11-26 | A kind of barrier-surpassing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109484499A true CN109484499A (en) | 2019-03-19 |
Family
ID=65697624
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811417614.4A Pending CN109484499A (en) | 2018-11-26 | 2018-11-26 | A kind of barrier-surpassing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109484499A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7475745B1 (en) * | 2006-05-11 | 2009-01-13 | Deroos Bradley G | High mobility vehicle |
| CN103264730A (en) * | 2013-05-22 | 2013-08-28 | 苏州大学 | Tracked robot moving platform |
| CN105216899A (en) * | 2015-09-30 | 2016-01-06 | 重庆交通大学 | Barrier-surpassing robot |
| CN106344289A (en) * | 2016-09-26 | 2017-01-25 | 北京交通大学 | Wheel, track and leg composite multifunctional wheelchair |
| CN106904224A (en) * | 2017-04-20 | 2017-06-30 | 重庆大学 | A kind of hybrid climbing robot device of crawler belt polypody |
-
2018
- 2018-11-26 CN CN201811417614.4A patent/CN109484499A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7475745B1 (en) * | 2006-05-11 | 2009-01-13 | Deroos Bradley G | High mobility vehicle |
| CN103264730A (en) * | 2013-05-22 | 2013-08-28 | 苏州大学 | Tracked robot moving platform |
| CN105216899A (en) * | 2015-09-30 | 2016-01-06 | 重庆交通大学 | Barrier-surpassing robot |
| CN106344289A (en) * | 2016-09-26 | 2017-01-25 | 北京交通大学 | Wheel, track and leg composite multifunctional wheelchair |
| CN106904224A (en) * | 2017-04-20 | 2017-06-30 | 重庆大学 | A kind of hybrid climbing robot device of crawler belt polypody |
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