技术领域technical field
本发明属于地面移动机器人技术领域，具体涉及一种高机动性能的履带式六自由度移动机器人，能应对复杂的地形，如建筑物内部的台阶、楼梯、具有障碍物的环境，以及建筑物坍塌后的废墟环境，该机器人能够应用在灾难事故现场的勘察、搜救等任务中，为搜救人员提供重要的第一手信息。The invention belongs to the technical field of ground mobile robots, and in particular relates to a crawler-type six-degree-of-freedom mobile robot with high maneuverability, which can cope with complex terrains, such as steps and stairs inside buildings, environments with obstacles, and building collapses The robot can be used in disaster site surveys, search and rescue tasks, and provide important first-hand information for search and rescue personnel.
背景技术Background technique
自然灾害和人为灾害因其破坏性的巨大一直让人望而生畏，而灾害后的勘察、搜救工作是尤为重要的，但是往往在重大灾难发生后，现场环境过于复杂，具有很多未知的危险，如核辐射、化学物质泄漏、生化污染、高温、高湿、破败建筑二次坍塌等，超出了人类能够处理的能力范围，因此研究灾难后进行现场勘察、搜救和处理的机器人成为了国际上移动机器人领域的一个热门话题。通常，移动机器人有轮式、足式、履带式等，它们各有其特点，履带式机器人由于其地面适应性强，控制相对方便，在勘察、搜救任务中应用广泛。Natural disasters and man-made disasters have always been daunting because of their huge destructiveness, and post-disaster investigation and search and rescue work are particularly important, but often after a major disaster occurs, the site environment is too complex and has many unknown dangers, such as nuclear Radiation, chemical substance leakage, biochemical pollution, high temperature, high humidity, secondary collapse of dilapidated buildings, etc., are beyond the scope of human beings' ability to deal with it. Therefore, robots that conduct on-site surveys, search and rescue, and processing after disasters have become the field of mobile robots in the world. a hot topic. Generally, mobile robots are wheeled, legged, crawler, etc., each of which has its own characteristics. Because of its strong ground adaptability and relatively convenient control, crawler robots are widely used in survey and search and rescue tasks.
传统的履带式机器人为二自由度或三自由度，即只有两个主运动模块或两个主运动模块加一对同时运动的摆臂，这样简化了设计难度，但在机动性能方面显露出一些不足，表现为越障高度受限、下楼时运动不稳定等；传统的履带机器人的履带机构多与机器人主体分离，方便了机器人主体设计，但是不够紧凑的设计使其接地面积不够，影响其在非结构环境的移动性能；传统的履带机器人多采用齿轮或链传动，使之有重量增加、传动不稳定的问题；传统的履带机器人的控制、电源等部件多直接与机架连接，不利于重要部件的保护，也给安装调试带来了不便。为了更好地完成勘察、搜救任务，设计机器人时需要克服以上不足，做出合理的设计，提高机动性能。Traditional crawler robots have two degrees of freedom or three degrees of freedom, that is, there are only two main motion modules or two main motion modules plus a pair of swing arms that move simultaneously, which simplifies the design difficulty, but reveals some in terms of maneuverability. Insufficient, manifested as limited obstacle height, unstable movement when going downstairs, etc.; the crawler mechanism of traditional crawler robots is mostly separated from the main body of the robot, which facilitates the design of the main body of the robot, but the insufficiently compact design makes the grounding area insufficient, affecting its Mobility performance in non-structural environments; traditional crawler robots mostly use gears or chain drives, which cause problems of increased weight and unstable transmission; traditional crawler robots are mostly directly connected to the frame for control, power and other components, which is not conducive to The protection of important parts also brings inconvenience to installation and debugging. In order to better complete survey and search and rescue tasks, it is necessary to overcome the above shortcomings when designing robots, make reasonable designs, and improve maneuverability.
发明内容Contents of the invention
本发明的目的在于针对已有技术存在的缺陷，提供一种履带式六自由度移动机器人，达到结构紧凑、重量较轻、机动性能好。为达到上述目的，本发明对机器人本体的设计要求是：The object of the present invention is to provide a crawler-type six-degree-of-freedom mobile robot, which has a compact structure, light weight and good maneuverability. In order to achieve the above object, the design requirements of the present invention to the robot body are:
1. 在满足机器人设计要求的基础上，尽量减轻机器人的自重；1. On the basis of meeting the design requirements of the robot, try to reduce the weight of the robot;
2. 在满足机器人设计要求的基础上，方便机器人的安装和拆卸；2. On the basis of meeting the design requirements of the robot, it is convenient to install and disassemble the robot;
3. 在满足机器人设计要求的基础上，尽量使机器人结构紧凑，使机器人具有相对一般履带式机器人有更好的机动性能；3. On the basis of meeting the design requirements of the robot, try to make the robot compact in structure, so that the robot has better maneuverability than ordinary crawler robots;
4. 在满足机器人设计要求的基础上，使得机器人较传统的履带机器人有着更强的灵活性，并增强机器人的地面适应性；4. On the basis of meeting the design requirements of the robot, it makes the robot more flexible than the traditional crawler robot and enhances the ground adaptability of the robot;
5. 使机器人内部器件得到保护，方便机器人内部器件的安装；5. Protect the internal components of the robot and facilitate the installation of the internal components of the robot;
6. 使机器人调试起来更加方便。6. Make robot debugging more convenient.
为达到上述要求，本发明的构思是：In order to achieve the above-mentioned requirements, design of the present invention is:
1. 机器人机身采用铝合金制作，并开减重孔，使用同步带传动代替传统的齿轮传动和链传动，从而减轻机器人的自重；1. The body of the robot is made of aluminum alloy, with holes for weight reduction, and a synchronous belt drive is used instead of the traditional gear drive and chain drive, thereby reducing the weight of the robot;
2. 构成机器人机架的主要零件的连接方式为螺纹连接，要充分考虑安装定位和整体的刚性，要求电机固定块和主同步带支座组均在前后方面可调，方便机器人的安装和拆卸；2. The connection method of the main parts constituting the robot frame is screw connection. The installation positioning and the overall rigidity must be fully considered. The motor fixing block and the main timing belt support group are required to be adjustable in the front and rear to facilitate the installation and disassembly of the robot. ;
3. 将机器人的两组主运动模块与机架设计为一个整体，控制两个主运动模块自由度的电机在机器人前后各布置一个，利用空间上的交错使结构紧凑，选用较宽的履带增大机器人的触地面积；3. The two sets of main motion modules and the frame of the robot are designed as a whole, and the motors that control the degrees of freedom of the two main motion modules are arranged one at the front and back of the robot. The footprint of a large robot;
4. 设计一款履带式六自由度机器人，包括两个主运动模块和四个摆臂运动模块，每个自由度都能独立控制，增强机器人的灵活度，四个摆臂模块更增强了机器人对地面的适应性；4. Design a crawler-type six-degree-of-freedom robot, including two main motion modules and four swing arm motion modules, each degree of freedom can be independently controlled to enhance the flexibility of the robot, and the four swing arm modules further enhance the robot Adaptability to the ground;
5. 将机器人的机架和内部控制箱视作不同的模块来设计，机架在保证强度的前提下，增大内部空间，并预留内部控制箱缓冲零件的安装空间。控制箱的设计应尽量将机器人的内部器件保护起来，并要考虑考虑机器人的充电方式，使其不需要拔下电池即可充电；5. The frame of the robot and the internal control box are designed as different modules. On the premise of ensuring the strength of the frame, the internal space is increased, and the installation space for the buffer parts of the internal control box is reserved. The design of the control box should try to protect the internal components of the robot, and consider the charging method of the robot so that it can be charged without unplugging the battery;
6. 角度传感器用于标定机器人的摆臂位置。6. The angle sensor is used to calibrate the swing arm position of the robot.
根据上述发明构思，本发明采用以下的技术方案：According to above-mentioned inventive concept, the present invention adopts following technical scheme:
一款履带式六自由度机器人，包括机架、两组主运动模块、四组摆臂运动模块、控制箱及传感部件。机器人大部分均以履带包覆，两组主运动模块及其电机在机器人的中部，呈中心对程布置，每个主运动模块与其电机之间均通过同步齿形带传动，四组摆臂运动模块及其电机在机器人的左前、左后、右前、右后四个位置，呈左右对称布置，每个摆臂运动模块与其电机之间均通过同步齿形带传动。A crawler-type six-degree-of-freedom robot, including a frame, two sets of main motion modules, four sets of swing arm motion modules, a control box and sensing components. Most of the robot is covered with crawlers. Two sets of main motion modules and their motors are arranged in the middle of the robot in a center-to-center arrangement. Each main motion module and its motors are driven by synchronous toothed belts. Four sets of swing arms move The modules and their motors are symmetrically arranged in the left front, left rear, right front, and right rear of the robot, and each swing arm movement module and its motors are driven by a synchronous toothed belt.
所述机架的整体形状模仿了龟的骨架，构成机架的主要零件的连接方式为螺纹连接，方便机架的安装和拆卸，机架分腹、颈、头、肋、脊及连接其他模块的附属零件，具体包括一个机架主框架，两组主电机相关零件，四组摆臂电机相关零件。腹板在整个机架的下方，2个肋板与之垂直、左右对称安装；2个头与腹板垂直、前后对称安装，头部零件上有一个用于安装机器人充电接口的孔；颈板加固头和肋板的连接，并提供脊板的安装位置，两个颈板呈中心对程安装；脊板靠脊板固定零件与颈板相连，脊板上方用两个外设支撑连接另一个脊板，用以承接外部增加的模块，此为机架的主体框架。设计充分考虑了安装定位和整体的刚性，在此基础上，增加了连接其他模块的附属零件。在腹板上前后左右对称安装了4个电机固定块，用以安装摆臂电机，2个肋板外侧前后左右对称地安装了4组摆臂同步带支座，且电机固定块及摆臂同步带支座组均可调节前后位置，以调节摆臂同步带的张力；2个颈板上分别中心对程地安装了2个电机固定块，用以安装主履带驱动电机，同样在2个颈板上分别中心对程地安装了2组主同步带支座组，电机固定块和主同步带支座组均在前后方面可调，以调节主同步带的张力。The overall shape of the frame imitates the skeleton of a tortoise, and the connection mode of the main parts constituting the frame is screw connection, which facilitates the installation and disassembly of the frame. The frame is divided into abdomen, neck, head, ribs, ridges and other modules connected The accessory parts specifically include a frame main frame, two sets of main motor-related parts, and four sets of swing arm motor-related parts. The web is under the entire frame, and the two ribs are perpendicular to it, symmetrically installed left and right; the two heads are perpendicular to the web, installed symmetrically front and rear, and there is a hole on the head part for installing the charging interface of the robot; the neck plate is reinforced The connection between the head and the rib plate, and provide the installation position of the spine plate, the two neck plates are installed in the center of the distance; the spine plate is connected with the neck plate by the fixed part of the spine plate, and the other spine is connected with two peripheral supports above the spine plate The board is used to accept externally added modules, which is the main frame of the rack. The design fully considers the installation positioning and the overall rigidity, and on this basis, additional parts connecting other modules are added. Four sets of motor fixing blocks are symmetrically installed on the web to install the swing arm motor, and four sets of swing arm synchronous belt supports are installed on the outside of the two ribs symmetrically, and the motor fixing block and the swing arm are synchronized The front and rear positions of the belt support group can be adjusted to adjust the tension of the timing belt of the swing arm; 2 motor fixing blocks are installed on the 2 neck plates respectively in the center of the distance to install the main crawler drive motor, also on the 2 neck plates Two sets of main synchronous belt support sets are respectively installed center-to-center on the board, and the motor fixing block and the main synchronous belt support set are adjustable in front and rear to adjust the tension of the main synchronous belt.
所述每个主运动模块包括左支撑轮架，右支撑轮架，主履带驱动轮，主履带从动轮，主履带，主动轴，从动轴，主电机，主联轴器，主同步带轮轴，主同步带小轮，主同步带大轮，主同步带，主动轴轴套及所需的标准件。电机通过同步带传动带动主动轴，带动主履带驱动轮使得整个主运动模块运动，两组支撑轮组起到调整履带张力、减小履带机构平均最大接地压力、提高履带机构机动性的作用，同样地，选用了较宽的履带，也能够减小平均最大接地压力，提高履带机构的机动性能，主履带的履刺选用较高的类型，较传统的履带机器人有着提供更大牵引力的优势，传动部分选用同步带传动，有着恒定的传动比，并使得结构设计紧凑，更容易达到轻量化设计的目的。上述的主动轴和从动轴分别在前述机架上的头部零件和肋板零件处有支撑点，主电机安装在前述电机固定块上，主电机前后位置可调，主同步带的小带轮安装在前述的主同步带支座组上，主同步带张力可调，两组支撑轮组安装在前述的腹板上，并通过螺丝来调整其高度，从而调整主履带的张力。所述的主运动模块在机器人中有两组，以中心对称的方式布置，即一组主履带为前驱，另一组后为后驱，目的是以空间交错的形式达到结构设计紧凑的目的。Each of the main motion modules includes a left support wheel frame, a right support wheel frame, a main track driving wheel, a main track driven wheel, a main track, a driving shaft, a driven shaft, a main motor, a main coupling, and a main synchronous pulley shaft , The main synchronous belt small wheel, the main synchronous belt wheel, the main synchronous belt, the drive shaft sleeve and the required standard parts. The motor drives the driving shaft through the synchronous belt drive, drives the main track drive wheel to make the whole main motion module move, and the two sets of supporting wheels play the role of adjusting the tension of the track, reducing the average maximum ground pressure of the track mechanism, and improving the mobility of the track mechanism. The use of wider crawler tracks can also reduce the average maximum ground pressure and improve the maneuverability of the crawler mechanism. The spurs of the main track are of a higher type, which has the advantage of providing greater traction than traditional crawler robots. The transmission Some of them are driven by synchronous belts, which have a constant transmission ratio and make the structure design compact, making it easier to achieve the purpose of lightweight design. The above-mentioned driving shaft and driven shaft have support points at the head parts and rib parts on the aforementioned frame respectively, the main motor is installed on the aforementioned motor fixing block, the front and rear positions of the main motor can be adjusted, and the small belt of the main timing belt The wheels are installed on the aforementioned main synchronous belt support group, the tension of the main synchronous belt is adjustable, and the two sets of supporting wheels are installed on the aforementioned web plate, and their height is adjusted by screws, thereby adjusting the tension of the main crawler belt. There are two groups of the main motion modules in the robot, which are arranged in a symmetrical manner, that is, one group of main crawlers is the front drive, and the other group is the rear drive.
所述摆臂运动模块有四组，均由相同的零部件构成，每组摆臂运动模块包括摆臂电机，摆臂联轴器，摆臂同步带轮轴，摆臂同步带小轮，摆臂同步带大轮，摆臂同步带，摆臂盘，摆臂内板，摆臂外板，左前摆臂轴承座，右前摆臂轴承座，右后摆臂轴承座，摆臂从动轴，摆臂驱动轮，摆臂从动轮，摆臂履带及所需的标准件。摆臂驱动轮通过键联接与前述主动轴或从动轴保持相对静止，从而使得同一侧（机器左侧或右侧）的一条主履带和两条摆臂履带保持相同方向的运动；摆臂驱动轮及摆臂从动轮位于摆臂内板与摆臂外板之间，摆臂从动轮与摆臂从动轴通过键联接起来，摆臂从动轴受支撑于摆臂内板与摆臂外板前端的两个轴承座上，使得摆臂从动轮能够相对于摆臂内、外板转动，保证摆臂履带的行走运动，同时，摆臂轴承座的前后位置可调，用于调节摆臂履带的张力；摆臂盘与摆臂内板及摆臂同步带轮的大轮固连，摆臂电机通过同步带传动带动摆臂同步带轮的大轮而带动摆臂盘，从而带动摆臂内板摆动，实现机器人摆臂的摆动。所述摆臂电机安装在前述电机固定块上，摆臂电机的前后位置可调；摆臂同步带小轮及摆臂同步带轮轴安装在机架的摆臂同步带支架上，可以调节其前后位置，从而调节摆臂同步带的张力。四组摆臂运动模块位于机器人的左前、左后、右前、右后，呈前后对称、左右对称的排布。由于每个摆臂都有各自的电机，能够独立控制摆动，使得机器人较传统的履带机器人有着更强的灵活性，更加接近四足机器人的地面适应性。There are four groups of swing arm movement modules, all of which are composed of the same parts. Each group of swing arm movement modules includes a swing arm motor, a swing arm coupling, a swing arm timing belt wheel shaft, a swing arm timing belt small wheel, a swing arm Synchronous belt pulley, swing arm timing belt, swing arm plate, swing arm inner plate, swing arm outer plate, left front swing arm bearing seat, right front swing arm bearing seat, right rear swing arm bearing seat, swing arm driven shaft, swing arm Arm driving wheel, swing arm driven wheel, swing arm track and required standard parts. The drive wheel of the swing arm is kept relatively stationary with the aforementioned drive shaft or driven shaft through key coupling, so that one main crawler track and two swing arm crawlers on the same side (the left or right side of the machine) keep moving in the same direction; swing arm drive The wheel and the driven wheel of the swing arm are located between the inner plate of the swing arm and the outer plate of the swing arm. The driven wheel of the swing arm and the driven shaft of the swing arm are connected by a key. On the two bearing seats at the front end of the swing arm, the driven wheel of the swing arm can rotate relative to the inner and outer plates of the swing arm to ensure the walking movement of the track of the swing arm. At the same time, the front and rear positions of the swing arm bearing seat can be adjusted to adjust the The tension of the track; the swing arm plate is fixedly connected with the swing arm inner plate and the large wheel of the swing arm timing pulley, and the swing arm motor drives the swing arm pulley through the synchronous belt transmission to drive the swing arm plate, thereby driving the swing arm The inner plate swings to realize the swing of the robot swing arm. The swing arm motor is installed on the aforementioned motor fixing block, and the front and rear positions of the swing arm motor are adjustable; position, thereby adjusting the tension of the swing arm timing belt. The four groups of swing arm movement modules are located at the left front, left rear, right front, and right rear of the robot, and are arranged symmetrically in front and rear and left and right. Since each swing arm has its own motor, it can independently control the swing, making the robot more flexible than traditional tracked robots, and closer to the ground adaptability of quadruped robots.
所述控制箱工控机、驱动器、电池等，位于机器人机架内部，受机架保护，控制箱布局紧凑，节省设计空间，整个控制箱放在机器人内部可降低机器人重心，保证机器人的运动稳定性。The control box industrial computer, driver, battery, etc. are located inside the robot frame and are protected by the frame. The layout of the control box is compact and saves design space. The entire control box is placed inside the robot to reduce the center of gravity of the robot and ensure the stability of the robot’s motion. .
所述传感部件为机器人左前、左后、右前、右后四个位置的四个角度传感器，连接在肋板的对应传感器槽中，作用是标定机器人的摆臂位置，防止因机器人掉电后丢失摆臂位置造成的机器人操作意外。The sensing components are four angle sensors at the left front, left rear, right front, and right rear positions of the robot, which are connected to the corresponding sensor grooves of the ribs, and are used to calibrate the swing arm position of the robot to prevent the robot from falling due to power failure. Accidental robot operation due to loss of swing arm position.
本发明较传统的履带机器人设计有如下的优势：The present invention has following advantage compared with traditional crawler robot design:
1. 质量更轻；1. Lighter quality;
2. 方便安装和拆卸；2. Easy to install and disassemble;
3. 结构更紧凑，接地面积更大，机动性能更佳；3. The structure is more compact, the ground area is larger, and the maneuverability is better;
4. 具有更多的自由度，更灵活，地面适应性更好；4. It has more degrees of freedom, more flexibility, and better ground adaptability;
5. 更有利于控制部件的保护，可快速充电；5. It is more conducive to the protection of control components and can be charged quickly;
6. 更有利于机器人的调试。6. It is more conducive to the debugging of the robot.
附图说明Description of drawings
附图1是该履带式六自由度移动机器人整机构成模块的示意图；Accompanying drawing 1 is the schematic diagram of this crawler-type six-degree-of-freedom mobile robot complete machine constituting module;
附图2是机器人机架部分整体构成及传感器示意图；Accompanying drawing 2 is a schematic diagram of the overall composition of the robot frame and sensors;
附图3是机器人机架部分内部上方构成示意图；Accompanying drawing 3 is a schematic diagram of the composition of the upper part of the robot frame;
附图4是机器人机架部分内部下方构成示意图；Accompanying drawing 4 is a schematic diagram of the structure below the robot frame part;
附图5是机器人左侧主运动模块或右侧主运动模块构成示意图；Accompanying drawing 5 is a schematic diagram of the main motion module on the left side of the robot or the main motion module on the right side;
附图6是机器人前端或后端的主、从动轴轴系、摆臂电机轴系示意图；Accompanying drawing 6 is the schematic diagram of the axis system of the main and driven shafts and the shaft system of the swing arm motor at the front end or rear end of the robot;
附图7是机器人前端或后端的主电机轴系、摆臂电机轴系、摆臂从动轴轴系示意图；Accompanying drawing 7 is the schematic diagram of the main motor shaft system, the swing arm motor shaft system, and the swing arm driven shaft shaft system at the front end or rear end of the robot;
附图8、9是机器人左前或右前或左右或右后摆臂运动模块示意图；Accompanying drawing 8, 9 is the schematic diagram of robot left front or right front or left and right or right rear swing arm motion module;
附图10是机器人控制箱整体的示意图。Accompanying drawing 10 is the overall schematic diagram of robot control box.
具体实施方式Detailed ways
下面结合附图对机器人的优选实施例进行说明。Preferred embodiments of the robot are described below in conjunction with the accompanying drawings.
实施例一：Embodiment one:
参见图1至图10，本履带式六自由度移动机器人，包括左右侧两个主运动模块2、3，左前、右前、左后、右后四个摆臂运动模块4、5、6、7，机架1、控制箱8以及四个角度传感器9a、9b、9c、9d。其特征在于：所述机架1为机器人的躯体，用以承载、连接各个模块以及承受外部负载；所述左右侧两个主运动模块2、3以机架1为中心对称分布，并能独立驱动；所述左前、右前、左后、右后四个摆臂运动模块4、5、6、7有着相同的结构，对机架1呈前后左右对称分布，并各自有独立的驱动单元；所述控制箱8位于机架1的内部，被机架1和自身的箱体所保护；所述四个角度传感器9a、9b、9c、9d嵌于机架1的左前、右前、左后、右后四个方位。Referring to Figures 1 to 10, this crawler-type six-degree-of-freedom mobile robot includes two main motion modules 2 and 3 on the left and right sides, and four swing arm motion modules 4, 5, 6, and 7 on the left front, right front, left rear, and right rear. , Rack 1, control box 8 and four angle sensors 9a, 9b, 9c, 9d. It is characterized in that: the frame 1 is the body of the robot, which is used to carry and connect various modules and bear external loads; the two main motion modules 2 and 3 on the left and right sides are symmetrically distributed with the frame 1 as the center, and can independently drive; the four swing arm motion modules 4, 5, 6, and 7 in the front left, front right, rear left, and rear right have the same structure, and are symmetrically distributed front, rear, left, and right to the frame 1, and each has an independent drive unit; The control box 8 is located inside the frame 1 and is protected by the frame 1 and its own box body; the four angle sensors 9a, 9b, 9c, 9d are embedded in the left front, right front, left rear, right the last four positions.
实施例二：Embodiment two:
本实施例与实施例一基本相同，特别之处如下：This embodiment is basically the same as Embodiment 1, and the special features are as follows:
所述机架1包括腹板11，前颈板12a，后颈板12b，前头13a，后头13b，左肋板14a，右肋板14b，上脊板15a，下脊板15b，前脊板固定块16a，后脊板固定块16b，左支撑块17a，右支撑块17b，前上电机固定块18a，后上电机固定块18b，左前电机固定块18c，右前电机固定块18d，左后电机固定块18e，右后电机固定块18f，前正张紧柱19a，后正张紧柱19b，前正摆臂同步带轮内支架110a，后正摆臂同步带轮内支架110b，前正摆臂同步带轮外支架111a，后正摆臂同步带轮外支架111b，前主同步带轮支座112a，后主同步带轮支座112b，前反张紧柱113a，后反张紧柱113b，前反摆臂同步带轮内支架114a，后反摆臂同步带轮内支架114b，前反摆臂同步带轮外支架115a，后反摆臂同步带轮外支架115b；这些构件构成机架1的主框架、两组主电机相关机架和四组摆臂电机相关机架；所述机架主框架中，所述腹板11作为整个机架的基座，前头13a、后头13b、左肋板14a、右肋板14b在腹板11上方与之定位并连接，前颈板12a、后颈板12b加固机架上方的连接，下脊板15b靠前脊板固定块16a、后脊板固定块16b与前后两块颈板12a、12b相连，上脊板15a通过左支撑块17a、右支撑块17b与下脊板15b相连，为外部扩展组件提供安装位置；所述两组主电机相关机架中，在前颈板12a下方连接着前上电机固定块18a，用来安装主电机，其前后位置可调；前颈板12a下方连接着前主同步带轮支座112a，其左右两侧安装着轴承座，前颈板12a上有两个调节螺钉可以调节前主同步带轮支座112a的前后位置；后颈板12b、后上电机固定块18b、后主同步带轮支座112b与前主同步带支座112a的连接方式相同，这两组零件的位置关于机架的前后中心面呈中心对称；所述四组摆臂电机相关机架中，在腹板11的左前方安装着左前电机固定块18c，用来安装摆臂电机，其前后位置可以调节；在左肋板14a的左侧面上安装着前正张紧柱19a、前正摆臂同步带轮内支架110a、前正摆臂同步带轮外支架111a组成的摆臂同步带张紧机构，其前后位置可调；机架左后方的左后电机固定块18e、后反张紧柱113b、后反摆臂同步带轮内支架114b、后反摆臂同步带轮外支架115b与前述机架1左前方的对应件18c、19a、110a、111a的位置和安装方式相对于机架1的前后中心面对称；机架1右前方的右前电机固定块18d、前反张紧柱113a、前反摆臂同步带轮内支架114a、前反摆臂同步带轮外支架115a与前述机架1左前方对应件18c、19a、110a、111a的位置和安装方式相对于机架1的左右中心面对称；机架1右后方的右后电机固定块18f、后正张紧柱19b、后正摆臂同步带轮内支架110b、后正摆臂同步带轮外支架111b与前述机架1左后方对应件18d、113a、114a、115a的位置和安装方式相对于于机架1的前后中心面对称；所述前头13a和后头13b上都开有充电槽，使机器人在不拔下电池的情况下的充电成为可能。Described frame 1 comprises web 11, front neck plate 12a, back neck plate 12b, front head 13a, rear head 13b, left rib 14a, right rib 14b, upper ridge 15a, lower ridge 15b, front ridge is fixed Block 16a, rear ridge plate fixing block 16b, left support block 17a, right support block 17b, front upper motor fixing block 18a, rear upper motor fixing block 18b, left front motor fixing block 18c, right front motor fixing block 18d, left rear motor fixing Block 18e, right rear motor fixing block 18f, front positive tension column 19a, rear positive tension column 19b, front positive swing arm synchronous pulley inner support 110a, rear positive swing arm synchronous pulley inner support 110b, front positive swing arm Synchronous pulley outer support 111a, rear positive swing arm synchronous pulley outer support 111b, front main synchronous pulley support 112a, rear main synchronous pulley support 112b, front anti-tension column 113a, rear anti-tension column 113b, Front anti-swing arm synchronous pulley inner support 114a, rear anti-swing arm synchronous pulley inner support 114b, front anti-swing arm synchronous pulley outer support 115a, rear anti-swing arm synchronous pulley outer support 115b; these components constitute the frame 1 The main frame of the main frame, two groups of main motor-related frames and four groups of swing arm motor-related frames; The plate 14a and the right rib plate 14b are positioned and connected to the web plate 11 above, the front neck plate 12a and the rear neck plate 12b reinforce the connection above the frame, and the lower spine plate 15b is fixed by the front spine plate fixing block 16a and the rear spine plate The block 16b is connected with the front and rear two neck plates 12a, 12b, and the upper ridge plate 15a is connected with the lower ridge plate 15b through the left support block 17a and the right support block 17b, providing installation positions for the external expansion components; In the frame, the front upper motor fixing block 18a is connected under the front neck plate 12a, which is used to install the main motor, and its front and rear positions are adjustable; the front main synchronous pulley support 112a is connected under the front neck plate 12a, and its left and right sides Bearing seat is installed, and two adjustment screws can regulate the front and rear position of front main synchronous pulley support 112a on the front neck plate 12a; The front main synchronous belt support 112a is connected in the same way, and the positions of these two groups of parts are center-symmetrical with respect to the front and rear center planes of the frame; The left front motor fixing block 18c is used to install the swing arm motor, and its front and rear positions can be adjusted; the front positive tension column 19a, the front positive swing arm synchronous pulley inner support 110a, the front positive tension column 19a, and the front The swing arm timing belt tensioning mechanism composed of the positive swing arm timing pulley outer bracket 111a has adjustable front and rear positions; the left rear motor fixing block 18e, rear anti-tensioning column 113b, and rear anti-swing arm timing belt at the left rear of the frame The positions and installation methods of the wheel inner bracket 114b, the rear anti-swing arm synchronous pulley outer bracket 115b and the corresponding parts 18c, 19a, 110a, 111a on the left front of the aforementioned frame 1 are the same. Symmetrical to the front and rear central planes of frame 1; right front motor fixing block 18d, front anti-tension column 113a, front anti-swing arm synchronous pulley inner bracket 114a, front anti-swing arm synchronous pulley outer support on the right front of frame 1 115a and the position and installation method of the left front corresponding parts 18c, 19a, 110a, 111a of the aforementioned frame 1 are symmetrical with respect to the left and right central planes of the frame 1; Tight post 19b, rear positive swing arm synchronous pulley inner support 110b, rear positive swing arm synchronous pulley outer support 111b and the positions and installation methods of the aforementioned frame 1 left rear counterparts 18d, 113a, 114a, 115a are relative to the machine The front and rear center planes of the frame 1 are symmetrical; charging slots are provided on the front head 13a and the rear head 13b, so that the robot can be charged without unplugging the battery.
所述左右两侧主运动模块2、3为左侧主运动模块2和右侧主运动模块3，它们的构造相同：左侧主运动模块2包括左支撑轮架21a、右支撑轮架21b、主履带驱动轮22、主履带从动轮23、主履带24、主动轴25、从动轴26、主电机27、主联轴器28、主同步带轮轴29、主同步带小轮210、主同步带大轮211、主同步带212和主动轴轴套213；所述主电机27通过主联轴器28、主同步带轮轴29与主同步带小轮210、主同步带大轮211、主同步带212构成的带传动系统连接；所述主同步带大轮211与主动轴25通过键联接固连在一起，轴向使用卡簧和固定锁紧环定位锁紧，主履带驱动轮22同样也通过键与主动轴25固连，轴向通过主动轴轴套213和另一个固定锁紧环定位锁紧，主动轴25受机架1的头和肋板中的轴承支承，与机架1相连并能相对其转动；从动轴26也支承在机架1的头和肋板的轴承之间，从动轴26与主履带从动轮23通过键连接，轴向用卡簧限位，也能相对于机架转动；而左支撑轮架21a、31a、右支撑轮架21b、31b通过螺钉与腹板11相连，并能调节上下位置，张紧主履带24，支承负载；所述主履带24的齿形有利于减小平均最大接地压力，提高机器人的机动性能；右侧主运动模块3与左侧主运动模块2的结构相同，工作原理一致。The main motion modules 2 and 3 on the left and right sides are the left main motion module 2 and the right main motion module 3, and their structures are the same: the left main motion module 2 includes a left support wheel frame 21a, a right support wheel frame 21b, Main track driving wheel 22, main track driven wheel 23, main track 24, driving shaft 25, driven shaft 26, main motor 27, main coupling 28, main synchronous pulley shaft 29, main synchronous belt small wheel 210, main synchronous Belt big wheel 211, main synchronous belt 212 and driving shaft bushing 213; described main motor 27 passes main coupling 28, main synchronous belt wheel shaft 29 and main synchronous belt small wheel 210, main synchronous belt large wheel 211, main synchronous The belt transmission system composed of belt 212 is connected; the main synchronous belt pulley 211 is fixedly connected with the driving shaft 25 through a key, and the axial direction is locked by using a snap spring and a fixed locking ring, and the main track drive wheel 22 is also locked. The key is fixedly connected with the driving shaft 25, and the axial direction is positioned and locked by the driving shaft sleeve 213 and another fixed locking ring. The driving shaft 25 is supported by the head of the frame 1 and the bearing in the rib plate, and is connected with the frame 1 And can rotate relative thereto; The driven shaft 26 is also supported between the head of the frame 1 and the bearing of the rib plate, the driven shaft 26 is connected with the main crawler driven wheel 23 by a key, and the axial direction is limited by a jump spring, which can also Rotate relative to the frame; and the left support wheel frame 21a, 31a, the right support wheel frame 21b, 31b are connected with the web 11 by screws, and can adjust the upper and lower positions, tension the main track 24, and support the load; the main track 24 The tooth shape is beneficial to reduce the average maximum ground pressure and improve the maneuverability of the robot; the structure of the main motion module 3 on the right is the same as that of the main motion module 2 on the left, and the working principle is the same.
所述左前、右前、左后、右后四个摆臂运动模块4、5、6、7为左前摆臂运动模块4、右前摆臂运动模块5、左后摆臂运动模块6和右后摆臂运动模块7四个，它们的构造相同：左前摆臂运动模块4包括摆臂电机41、摆臂联轴器42、摆臂同步带轮轴43、摆臂同步带小轮44、摆臂同步带大轮45、摆臂同步带46、摆臂盘47、摆臂内板48、摆臂外板49、左前摆臂轴承座410a、右前摆臂轴承座410b、右后摆臂轴承座410d、摆臂从动轴411、摆臂驱动轮412、摆臂从动轮413和摆臂履带414，所述摆臂电机41通过对应的电机减速器固定块连接在腹板11上，通过摆臂联轴器42、摆臂同步带轮轴43与摆臂同步带小轮44连接，摆臂同步带小轮44与摆臂同步带轮轴43是通过键固连的，它们受支承在前述摆臂同步带张紧机构的两个滑动轴承上，可通过调整摆臂同步带小轮44的前后位置来张紧摆臂同步带46；带传动中的摆臂同步带大轮45与摆臂盘47用螺钉固连，摆臂盘47内孔的两端有滚动轴承，它们安装在对应的主动轴或从动轴上并能相对于之转动，摆臂内板48与摆臂盘47固连，摆臂驱动轮412与相应的主动轴或从动轴通过键连接，并用摆臂外板49限位支承，同时摆臂外板上的摆臂轴承座410d保证摆臂摆动的顺畅，摆臂内板末端和摆臂外板末端之间安装支承着摆臂从动轮413，摆臂从动轮413与摆臂从动轴411用键固连，轴向用卡簧限位，两端支承于左前摆臂轴承座410a和右前摆臂轴承座410b，并用螺母锁紧，摆臂从动轮与摆臂从动轴能相对与摆臂内板48、摆臂外板49转动，并随之移动；所述右前摆臂运动模块5、左后摆臂运动模块6和右后摆臂运动模块7的结构，与左前摆臂运动模块4的结构相同，工作原理一致。The four swing arm movement modules 4, 5, 6, and 7 of the left front, right front, left rear, and right rear are the left front swing arm movement module 4, the right front swing arm movement module 5, the left rear swing arm movement module 6 and the right rear swing arm movement module. There are four arm motion modules 7, and their structures are identical: the left front swing arm motion module 4 includes a swing arm motor 41, a swing arm coupling 42, a swing arm timing belt wheel shaft 43, a swing arm timing belt small wheel 44, and a swing arm timing belt Big wheel 45, swing arm timing belt 46, swing arm plate 47, swing arm inner plate 48, swing arm outer plate 49, left front swing arm bearing seat 410a, right front swing arm bearing seat 410b, right rear swing arm bearing seat 410d, Arm driven shaft 411, swing arm drive wheel 412, swing arm driven wheel 413 and swing arm crawler belt 414, the swing arm motor 41 is connected to the web 11 through the corresponding motor reducer fixing block, and the swing arm coupling 42. The swing arm synchronous belt wheel shaft 43 is connected with the swing arm synchronous belt small wheel 44. The swing arm synchronous belt small wheel 44 and the swing arm synchronous belt wheel shaft 43 are fixedly connected by keys, and they are supported on the aforementioned swing arm synchronous belt under tension. On the two sliding bearings of the mechanism, the swing arm timing belt 46 can be tensioned by adjusting the front and rear positions of the swing arm timing belt small wheel 44; , there are rolling bearings at both ends of the inner hole of the swing arm disc 47, they are installed on the corresponding driving shaft or driven shaft and can rotate relative thereto, the swing arm inner plate 48 is fixedly connected with the swing arm disc 47, and the swing arm driving wheel 412 It is connected with the corresponding driving shaft or driven shaft through a key, and is supported by the limit support of the swing arm outer plate 49. At the same time, the swing arm bearing seat 410d on the swing arm outer plate ensures the smooth swing of the swing arm. The end of the swing arm inner plate and the swing arm The swing arm driven wheel 413 is installed and supported between the ends of the outer plates, the swing arm driven wheel 413 is fixedly connected with the swing arm driven shaft 411 with a key, the axial direction is limited by a snap spring, and both ends are supported on the left front swing arm bearing seat 410a and The right front swing arm bearing seat 410b is locked with a nut, the swing arm driven wheel and the swing arm driven shaft can rotate relative to the swing arm inner plate 48 and the swing arm outer plate 49, and move accordingly; the right front swing arm movement module 5. The structure of the left rear swing arm movement module 6 and the right rear swing arm movement module 7 is the same as that of the left front swing arm movement module 4, and the working principle is the same.
所述控制箱8包括工控机、驱动器、电池，电池分布在控制箱侧边，内部控制器件布置紧凑，整个箱体在机器人机架内部，受机架保护。The control box 8 includes an industrial computer, a driver, and a battery. The battery is distributed on the side of the control box, and the internal control devices are compactly arranged. The entire box is inside the robot frame and is protected by the frame.
所述四个角度传感器为左前传感器9a、右前传感器9b、左后传感器9c、右后传感器9d，位于机架的四角，与摆臂盘47连接，测量机器人摆臂的旋转角度。Described four angle sensors are left front sensor 9a, right front sensor 9b, left rear sensor 9c, right rear sensor 9d, are positioned at the four corners of frame, are connected with swing arm plate 47, measure the rotation angle of robot swing arm.
实施例三：Embodiment three:
本履带式六自由度移动机器人整机包括——机架1，主运动模块2和3，摆臂运动模块4、5、6及7，控制箱8，传感器。其中机架1由11至115b号零件组成，每种零件根据安装位置的不同进行了如表中的具体命名；主运动模块包括左侧主运动模块2和右侧主运动模块3，每个单独的主运动模块由21a至213号零件组成，每种零件根据安装位置的不同进行了如表中的具体命名；摆臂运动模块包括左前摆臂运动模块4、右前摆臂运动模块5、左后摆臂运动模块6和右后摆臂运动模块7，每个单独的摆臂运动模块由41至414号零件组成，每种零件根据安装位置的不同进行了如表中的具体命名；控制箱8包括工控机、驱动器、电池等，控制箱受机架保护；传感器包括左前传感器9a、右前传感器9b、左后传感器9c、右后传感器9d。The crawler-type six-degree-of-freedom mobile robot includes a frame 1, main motion modules 2 and 3, swing arm motion modules 4, 5, 6 and 7, a control box 8, and sensors. Among them, the frame 1 is composed of parts 11 to 115b, and each part is specifically named as shown in the table according to the different installation positions; the main motion module includes the left main motion module 2 and the right main motion module 3, each separately The main motion module is composed of parts 21a to 213, and each part is specifically named as shown in the table according to the installation position; the swing arm motion module includes the left front swing arm motion module 4, the right front swing arm motion module 5, the left rear Swing arm movement module 6 and right rear swing arm movement module 7, each individual swing arm movement module is composed of parts No. 41 to 414, and each part is specifically named as shown in the table according to the installation position; control box 8 Including industrial computer, driver, battery, etc., the control box is protected by the frame; the sensors include left front sensor 9a, right front sensor 9b, left rear sensor 9c, right rear sensor 9d.
如图1、图2所示为本发明，应用于特殊场合的六履带移动机器人示意图。机器人机身采用铝合金制作，并开减重孔，使用同步带传动代替传统的齿轮传动和链传动，从而减轻了机器人的自重。它包括机架、两个主运动模块、四个摆臂运动模块、控制箱以及传感器。机架1的作用是承载、连接各个模块以及承受外部负载。机架两侧有左侧主运动模块2，右侧主运动模块3，它们分别有独立的驱动单元，两个主运动模块关于机架的中心对程分布，左侧主运动模块2为前驱形式，3为后驱形式，这样做的目的是为了使机器人结构紧凑。机架1四个角的位置上分别有左前摆臂运动模块4，右前摆臂运动模块5，左后摆臂运动模块6，右后摆臂运动模块7，四个摆臂运动模块有着相同的结构，并各自有独立的驱动单元。控制箱8位于机架1的内部，被机架和自身的箱体所保护。四个角度传感器9a、9b、9c、9d嵌于机架1的左前、右前、左后、右后四个方位。总体来说，机器人的运动由六个运动模块实现，每个模块能独立控制，机器人的主运动如前进、后退、转向、攀爬等由两个主运动模块2、3实现，而四个摆臂运动模块4、5、6、7则用于实现机器人的辅运动，如左右两侧的摆臂履带分别同左右两侧的主履带有相同方向的运动，相当于延伸了主履带的长度，用以增强机器人的主运动能力，同时摆臂也能辅助机器人做攀爬、支撑、越障、涉水等复杂的运动，用以应对不同的任务，此外该机器人还可扩展外部设备，如机械臂、图像传感器等。As shown in Fig. 1 and Fig. 2, the present invention is a schematic diagram of a six-crawler mobile robot applied to special occasions. The body of the robot is made of aluminum alloy, with holes for weight reduction, and a synchronous belt drive is used to replace the traditional gear drive and chain drive, thereby reducing the weight of the robot. It includes rack, two main motion modules, four swing arm motion modules, control box and sensors. The function of the rack 1 is to carry and connect various modules and bear external loads. There are left main motion module 2 and right main motion module 3 on both sides of the frame, and they have independent drive units respectively. The two main motion modules are arranged opposite to the center of the frame, and the left main motion module 2 is in the form of front drive. , 3 is the rear drive form, the purpose of doing like this is in order to make the robot structure compact. There are left front swing arm movement module 4, right front swing arm movement module 5, left rear swing arm movement module 6, and right rear swing arm movement module 7 at the four corners of frame 1. The four swing arm movement modules have the same structure, and each has an independent drive unit. The control box 8 is located inside the frame 1 and is protected by the frame and its own casing. Four angle sensors 9a, 9b, 9c, and 9d are embedded in the front left, front right, rear left, and rear right of the frame 1 in four directions. Generally speaking, the movement of the robot is realized by six movement modules, each of which can be controlled independently. The arm motion modules 4, 5, 6, and 7 are used to realize the auxiliary motion of the robot. For example, the swing arm tracks on the left and right sides move in the same direction as the main tracks on the left and right sides, which is equivalent to extending the length of the main track. It is used to enhance the main movement ability of the robot. At the same time, the swing arm can also assist the robot in complex movements such as climbing, supporting, overcoming obstacles, and wading to cope with different tasks. In addition, the robot can also expand external equipment, such as mechanical arm, image sensor, etc.
如图2、图3、图4所示为机架示意图，机架的整体形状模仿了龟的骨架，构成机架的主要零件的连接方式为螺纹连接。机架1包括腹板11，前颈板12a，后颈板12b，前头13a，后头13b，左肋板14a，右肋板14b，上脊板15a，下脊板15b，前脊板固定块16a，后脊板固定块16b，左支撑块17a，右支撑块17b，前上电机固定块18a，后上电机固定块18b，左前电机固定块18c，右前电机固定块18d，左后电机固定块18e，右后电机固定块18f，前正张紧柱19a，后正张紧柱19b，前正摆臂同步带轮内支架110a，后正摆臂同步带轮内支架110b，前正摆臂同步带轮外支架111a，后正摆臂同步带轮外支架111b，前主同步带轮支座112a，后主同步带轮支座112b，前反张紧柱113a，后反张紧柱113b，前反摆臂同步带轮内支架114a，后反摆臂同步带轮内支架114b，前反摆臂同步带轮外支架115a，后反摆臂同步带轮外支架115b。总体来说，机架由主框架、两组主电机相关零件、四组摆臂电机相关零件组成。机架主框架：11作为整个机架的基座，13a、13b、14a、14b在11上方与之以螺纹连接的方式相连，11上有定位面和定位孔以确保各个头零件和肋板上的轴承孔同轴，12a、12b用以加固机架上方的连接，15b靠16a、16b与两块颈板相连，同样可以加强机架上方的连接，15a通过17a、17b与15b相连，为外部扩展组件提供了安装位置。上述零件及连接方式构成了机架的主框架，在此基础上，提供了连接驱动件的连接零件。两组主电机相关零件：在12a下方连接着18a，用来安装主电机，18a与12a以腰型孔连接，因此可以调节主电机的前后位置；12a下方同样以腰型孔连接着112a，112a左右两侧安装着轴承座，此处用以安装主同步带轮小轮，12a上有两个调节螺钉用来调节112a的前后位置，以调节主同步带的张力；18a和112a的前后位置都需要调节以保证主电机轴与主同步带轮小轮同轴；12b、18b、112b与12a、18a、112a的连接方式相同，只是这两组零件的位置关于机架的前后中心面呈中心对称，它们分别安装着2、3中的主电机与主同步带轮小轮。四组摆臂电机相关零件：在11的左前方安装着18c，用来安装摆臂电机，18c与11以腰型孔连接，其前后位置可以调节；在14a的左侧面上安装着19a、110a、111a组成的摆臂同步带张紧机构，19a固连在14a上，110a与111a通过三根支柱固连，110a上开有腰型孔，19a上有调节螺钉，因此可以调节机架左前方所安装的摆臂同步带轮小轮的前后位置，以调节摆臂同步带的张力；摆臂电机和摆臂同步带轮小轮的位置都需要调节以保证摆臂电机轴与摆臂同步带轮小轮同轴；机架左后方的18e、113b、114b、115b与前述18c、19a、110a、111a的位置、安装方式关于机架的前后中心面对称；机架右前方的18d、113a、114a、115a与前述18c、19a、110a、111a的位置、安装方式关于机架的左右中心面对称；机架右后方的18f、19b、110b、111b与前述18d、113a、114a、115a的位置、安装方式关于机架的前后中心面对称。以上即为机器人的机架设计，它不但方便机器人的安装和拆卸，而且整体的布置方式使得机架紧凑，并有减少机器人自重的效果。此外，前头13a和后头13b上都开有充电槽，使机器人在不拔下电池的情况下的充电成为可能。Figure 2, Figure 3, and Figure 4 are schematic diagrams of the frame. The overall shape of the frame imitates the skeleton of a turtle, and the connection mode of the main parts constituting the frame is screw connection. The frame 1 includes a web 11, a front neck plate 12a, a rear neck plate 12b, a front head 13a, a rear head 13b, a left rib 14a, a right rib 14b, an upper spine 15a, a lower spine 15b, and a front spine fixing block 16a , rear ridge plate fixed block 16b, left support block 17a, right support block 17b, front upper motor fixed block 18a, rear upper motor fixed block 18b, left front motor fixed block 18c, right front motor fixed block 18d, left rear motor fixed block 18e , right rear motor fixing block 18f, front positive tension column 19a, rear positive tension column 19b, front positive swing arm synchronous pulley inner support 110a, rear positive swing arm synchronous pulley inner support 110b, front positive swing arm synchronous belt Wheel outer bracket 111a, rear positive swing arm synchronous pulley outer bracket 111b, front main synchronous pulley support 112a, rear main synchronous pulley support 112b, front anti-tension column 113a, rear anti-tension column 113b, front anti-tension Swing arm synchronous pulley inner support 114a, rear reverse swing arm synchronous pulley inner support 114b, front reverse swing arm synchronous pulley outer support 115a, rear reverse swing arm synchronous pulley outer support 115b. Generally speaking, the frame is composed of the main frame, two sets of main motor-related parts, and four sets of swing arm motor-related parts.Frame main frame : 11 is used as the base of the whole frame, 13a, 13b, 14a, 14b are connected with it in a threaded manner above 11, and there are positioning surfaces and positioning holes on 11 to ensure that each head part and rib plate 12a, 12b are used to strengthen the connection above the frame, 15b is connected to the two neck plates by 16a, 16b, which can also strengthen the connection above the frame, 15a is connected to 15b through 17a, 17b, which is an external The extension component provides the installation location. The above-mentioned parts and connection methods constitute the main frame of the frame, and on this basis, connection parts for connecting the driving parts are provided.Two sets of related parts of the main motor : 18a is connected under 12a to install the main motor, 18a and 12a are connected by waist-shaped holes, so the front and rear positions of the main motor can be adjusted; the bottom of 12a is also connected to 112a and 112a by waist-shaped holes Bearing seats are installed on the left and right sides, where the main timing pulley small wheel is installed. There are two adjusting screws on 12a to adjust the front and rear positions of 112a to adjust the tension of the main timing belt; the front and rear positions of 18a and 112a are both It needs to be adjusted to ensure that the main motor shaft is coaxial with the main synchronous pulley small wheel; 12b, 18b, 112b are connected in the same way as 12a, 18a, 112a, but the positions of these two groups of parts are center-symmetrical with respect to the front and rear center planes of the frame , they are installed with the main motor in 2,3 and the main synchronous belt pulley steamny respectively.Four sets of swing arm motor related parts : 18c is installed on the left front of 11 to install the swing arm motor, 18c is connected to 11 with waist-shaped holes, and its front and rear positions can be adjusted; 19a, 19a, The swing arm synchronous belt tensioning mechanism composed of 110a and 111a, 19a is fixedly connected to 14a, 110a and 111a are fixedly connected by three pillars, 110a has a waist hole, and 19a has an adjusting screw, so the left front of the frame can be adjusted The front and rear positions of the small wheel of the swing arm timing pulley installed are used to adjust the tension of the swing arm timing belt; the positions of the swing arm motor and the swing arm timing pulley small wheel need to be adjusted to ensure that the swing arm motor shaft and the swing arm Wheel and small wheel are coaxial; 18e, 113b, 114b, 115b at the left rear of the frame and the positions and installation methods of the aforementioned 18c, 19a, 110a, 111a are symmetrical with respect to the front and rear center planes of the frame; 18d, 113a at the right front of the frame , 114a, 115a and the positions and installation methods of the aforementioned 18c, 19a, 110a, and 111a are symmetrical about the left and right center planes of the rack; The location and installation method are symmetrical about the front and rear center planes of the rack. The above is the frame design of the robot. It not only facilitates the installation and disassembly of the robot, but also makes the frame compact and has the effect of reducing the weight of the robot. In addition, both the front head 13a and the rear head 13b are provided with charging slots, so that the robot can be charged without pulling out the battery.
如图1、图5、图6、图7所示为主运动模块示意图，控制两个主运动模块自由度的电机在机器人前后各布置一个，利用空间上的交错使结构紧凑。主运动模块有左侧主运动模块2和右侧主运动模块3两个，它们的构造相同，如图5所示。以左侧主运动模块2进行说明。左侧主运动模块2包括左支撑轮架21a，右支撑轮架21b，主履带驱动轮22，主履带从动轮23，主履带24或34，主动轴25，从动轴26，主电机27，主联轴器28，主同步带轮轴29，主同步带小轮210，主同步带大轮211，主同步带212，主动轴轴套213。前方有主动轴轴系、主同步带轮轴轴系，后方有从动轴轴系，中间的21a能够上下调节，张紧24的同时，起到承载机器人重量及外部负载的作用。主运动模块的具体安装方式如下，主电机27通过主联轴器28、主同步带轮轴29与主同步带小轮210、主同步带大轮211、主同步带212构成的带传动系统连接；主同步带大轮211与主动轴25通过键联接固连在一起，轴向使用卡簧和固定锁紧环定位锁紧，主履带驱动轮22同样也通过键与主动轴25固连，轴向通过主动轴轴套213和另一个固定锁紧环定位锁紧，主动轴25受机架1的头和肋板中的轴承支承，与机架相连并能相对其转动；主运动模块的从动轴26也支承在机架的头和肋板的轴承之间，从动轴26与主履带从动轮23通过键连接，轴向用卡簧限位，也能相对于机架转动；而左支撑轮架21a、右支撑轮架21b通过螺钉与腹板11相连，并能调节上下位置，张紧主履带24，支承负载。运动时，27通过28、29、210、211、212组成的同步带传动组件来驱动25转动，从而带动22转动，进而使得整个主运动模块运动。此外，主履带24选用较宽的履带增大了机器人的触地面积，它的齿形也有利于减小平均最大接地压力，提高了机器人的机动性能。右侧主运动模块3与左侧主运动模块2的结构相同，工作原理一致。Figure 1, Figure 5, Figure 6, and Figure 7 show the schematic diagrams of the main motion module. The motors controlling the degrees of freedom of the two main motion modules are arranged one at the front and back of the robot, and the structure is compacted by using the staggered space. There are two main motion modules, the left main motion module 2 and the right main motion module 3, and their structures are the same, as shown in FIG. 5 . The left main motion module 2 is used for illustration. The main motion module 2 on the left side comprises a left support wheel frame 21a, a right support wheel frame 21b, a main track driving wheel 22, a main track driven wheel 23, a main track 24 or 34, a drive shaft 25, a driven shaft 26, a main motor 27, Main shaft coupling 28, main synchronous belt wheel shaft 29, main synchronous belt small wheel 210, main synchronous belt bull wheel 211, main synchronous belt 212, driving shaft bushing 213. There are drive shaft shafting and main synchronous pulley shaft shafting in the front, and driven shaft shafting in the rear. The middle 21a can be adjusted up and down. While tensioning 24, it plays the role of carrying the weight of the robot and external loads. The specific installation method of the main motion module is as follows, the main motor 27 is connected with the belt transmission system formed by the main coupling 28, the main synchronous belt wheel shaft 29 and the main synchronous belt small wheel 210, the main synchronous belt bull wheel 211, and the main synchronous belt 212; The main synchronous belt pulley 211 is fixedly connected with the driving shaft 25 through a key, and the axial direction is fixed and locked by using a circlip and a fixed locking ring. The main track driving wheel 22 is also fixedly connected with the driving shaft 25 through a key, and the axial Position and lock through the drive shaft sleeve 213 and another fixed locking ring, the drive shaft 25 is supported by the head of the frame 1 and the bearing in the rib, is connected with the frame and can rotate relative to it; the driven part of the main motion module The shaft 26 is also supported between the head of the frame and the bearing of the rib plate, the driven shaft 26 is connected with the main crawler driven wheel 23 through a key, and the axial direction is limited by a snap spring, and it can also rotate relative to the frame; while the left support The wheel frame 21a and the right supporting wheel frame 21b are connected with the web plate 11 by screws, and can adjust the upper and lower positions, tension the main crawler belt 24, and support the load. When moving, 27 drives 25 to rotate through the synchronous belt transmission assembly composed of 28, 29, 210, 211, 212, thereby driving 22 to rotate, and then making the whole main motion module move. In addition, the main crawler 24 selects a wider crawler to increase the ground contact area of the robot, and its tooth profile is also conducive to reducing the average maximum ground pressure and improving the maneuverability of the robot. The structure of the main motion module 3 on the right side is the same as that of the main motion module 2 on the left side, and the working principle is the same.
如图6、7、8、9所示为摆臂模块示意图，摆臂模块中的每个摆臂都能进行独立控制，增加了控制的灵活性。摆臂运动模块有左前摆臂运动模块4，右前摆臂运动模块5，左后摆臂运动模块6和右后摆臂运动模块7四个，它们的构造相同，如图8所示。以左前摆臂运动模块4进行说明，左前摆臂运动模块4包括摆臂电机41，摆臂联轴器42，摆臂同步带轮轴43，摆臂同步带小轮44，摆臂同步带大轮45，摆臂同步带46，摆臂盘47，摆臂内板48，摆臂外板49，左前摆臂轴承座410a，右前摆臂轴承座410b，右后摆臂轴承座410d，摆臂从动轴411，摆臂驱动轮412，摆臂从动轮413，摆臂履带414。按图中的方向，从左往右有摆臂电机相关零件、带传动相关零件、摆臂履带相关零件以及它们的轴系。摆臂运动模块的具体安装方式如下，摆臂电机41通过对应的电机减速器固定块连接在腹板11上，通过摆臂联轴器42、摆臂同步带轮轴43与摆臂同步带小轮44连接，摆臂同步带小轮44与摆臂同步带轮轴43是通过键固连的，它们受支承在前述摆臂同步带张紧机构的两个滑动轴承上，可以通过调整摆臂同步带小轮44的前后位置来张紧摆臂同步带46；带传动中的摆臂同步带大轮45与摆臂盘47用螺钉固连，摆臂盘47内孔的两端有滚动轴承，它们安装在图中对应的主动轴或从动轴上，摆臂内板48与摆臂盘47固连，摆臂驱动轮412如图所示与相应的主动轴或从动轴通过键连接，并用摆臂外板49限位支承，同时摆臂外板上的摆臂轴承座410d保证摆臂摆动的顺畅，摆臂内板末端和摆臂外板末端之间安装支承着摆臂从动轮413，摆臂从动轮413与摆臂从动轴411用键固连，轴向用卡簧限位，两段支承于左前摆臂轴承座410a和右前摆臂轴承座410b，并用螺母锁紧，摆臂从动轮与摆臂从动轴能相对与摆臂内板48、摆臂外板49转动，并随之移动。运动时，如果摆臂电机不工作，则摆臂不摆动，摆臂驱动轮412可以随同侧的主运动模块同向转动，带动摆臂履带与同侧主履带同向转动；如果摆臂电机工作，则摆臂电机通过同步带传动带动摆臂盘及摆臂内外板，从而带动摆臂从动轮、摆臂履带摆动，此摆动不影响摆臂履带的转动。右前摆臂运动模块5、左后摆臂运动模块6和右后摆臂运动模块7的结构，与左前摆臂运动模块4的结构相同，工作原理一致。四个摆臂配合工作可以实现如越障、涉水及更为复杂的任务，增强了机器人对地面的适应性，以及机器人的运动能力。Figures 6, 7, 8, and 9 are schematic diagrams of the swing arm module. Each swing arm in the swing arm module can be controlled independently, which increases the flexibility of control. The swing arm movement module has a left front swing arm movement module 4, a right front swing arm movement module 5, a left rear swing arm movement module 6 and a right rear swing arm movement module 7. They have the same structure, as shown in Figure 8. The left front swing arm movement module 4 is used for illustration. The left front swing arm movement module 4 includes a swing arm motor 41, a swing arm coupling 42, a swing arm timing belt wheel shaft 43, a swing arm timing belt small wheel 44, and a swing arm timing belt large wheel 45, swing arm synchronous belt 46, swing arm plate 47, swing arm inner plate 48, swing arm outer plate 49, left front swing arm bearing seat 410a, right front swing arm bearing seat 410b, right rear swing arm bearing seat 410d, swing arm from Drive shaft 411, swing arm driving wheel 412, swing arm driven wheel 413, swing arm crawler belt 414. According to the direction in the figure, there are swing arm motor related parts, belt drive related parts, swing arm crawler related parts and their shafting from left to right. The specific installation method of the swing arm movement module is as follows. The swing arm motor 41 is connected to the web 11 through the corresponding motor reducer fixing block, and the swing arm coupling 42, the swing arm timing pulley shaft 43 and the swing arm timing belt small wheel 44 connection, the swing arm timing belt small wheel 44 and the swing arm timing belt pulley shaft 43 are fixedly connected by keys, they are supported on the two sliding bearings of the aforementioned swing arm timing belt tensioning mechanism, and can be adjusted by adjusting the swing arm timing belt The front and rear positions of the small wheel 44 are used to tension the swing arm synchronous belt 46; the swing arm synchronous belt bull wheel 45 in the belt transmission is fixedly connected with the swing arm disc 47 with screws, and there are rolling bearings at both ends of the swing arm disc 47 inner holes. On the corresponding driving shaft or driven shaft in the figure, the swing arm inner plate 48 is fixedly connected with the swing arm plate 47, and the swing arm drive wheel 412 is connected with the corresponding driving shaft or driven shaft through a key as shown in the figure, and is connected with the swing arm The arm outer plate 49 is limited support, and the swing arm bearing seat 410d on the swing arm outer plate ensures the smooth swing of the swing arm, and the swing arm driven wheel 413 is installed and supported between the end of the swing arm inner plate and the end of the swing arm outer plate. The arm driven wheel 413 is fixedly connected with the swing arm driven shaft 411 with a key, and the axial direction is limited by a circlip. The driving wheel and the driven shaft of the swing arm can rotate relative to the inner plate 48 of the swing arm and the outer plate 49 of the swing arm, and move thereupon. During motion, if the swing arm motor does not work, then the swing arm does not swing, and the swing arm drive wheel 412 can rotate in the same direction with the main motion module on the same side, driving the swing arm track to rotate in the same direction as the same side main track; if the swing arm motor works , the swing arm motor drives the swing arm plate and the swing arm inner and outer plates through the synchronous belt drive, thereby driving the swing arm driven wheel and the swing arm track to swing, and this swing does not affect the rotation of the swing arm track. The structure of the right front swing arm movement module 5, the left rear swing arm movement module 6 and the right rear swing arm movement module 7 is the same as that of the left front swing arm movement module 4, and the working principle is consistent. The four swing arms work together to achieve more complex tasks such as obstacle surmounting, water wading, which enhances the adaptability of the robot to the ground and the movement ability of the robot.
如图1、10所示，机器人的控制箱位于机器人机架1内部，内部器件包括工控机、驱动器、电池等，控制箱布局紧凑，能够将它们保护起来。并且考虑了机器人的充电方式，使其不需要拔下电池即可充电。As shown in Figures 1 and 10, the control box of the robot is located inside the robot frame 1. The internal components include industrial computer, driver, battery, etc. The layout of the control box is compact and can protect them. And the charging method of the robot is considered so that it can be charged without unplugging the battery.
如图2所示，传感器包括左前传感器9a、右前传感器9b、左后传感器9c、右后传感器9d，位于机架1的四角，与摆臂盘连接，用来测量对应摆臂的绝对位置，防止因机器人掉电后摆臂位置信息丢失而导致的功能紊乱或结构损坏，更有利于机器人进行调试。As shown in Figure 2, the sensors include a left front sensor 9a, a right front sensor 9b, a left rear sensor 9c, and a right rear sensor 9d, which are located at the four corners of the frame 1 and are connected with the swing arm disk to measure the absolute position of the corresponding swing arm, preventing Functional disorder or structural damage caused by the loss of swing arm position information after the robot is powered off is more conducive to robot debugging.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410655985.1ACN104443085B (en) | 2014-11-18 | 2014-11-18 | Crawler type six degree of freedom mobile robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410655985.1ACN104443085B (en) | 2014-11-18 | 2014-11-18 | Crawler type six degree of freedom mobile robot |
| Publication Number | Publication Date |
|---|---|
| CN104443085Atrue CN104443085A (en) | 2015-03-25 |
| CN104443085B CN104443085B (en) | 2017-03-15 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410655985.1AExpired - Fee RelatedCN104443085B (en) | 2014-11-18 | 2014-11-18 | Crawler type six degree of freedom mobile robot |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20170315 |