技术领域technical field
本发明属于机器人装置领域，具体涉及一种履带摆臂式越障机器人。The invention belongs to the field of robot devices, and in particular relates to a crawler swing arm type obstacle-surmounting robot.
背景技术Background technique
履带摆臂式越障机器人是一种能够移动并翻越障碍的设备，是野外环境侦查、巡视、扫雷排险和恶劣危险环境中探测等情况下工作的重要自动化装备之一，由于该种类型的机器人越障能力和适应室外复杂地形的能力强，在凹凸不平和有障碍物的路面环境中通过性好，所以其应用领域也越来越广。目前现有的越障机器人产品存在以下缺陷：（1）机器人虽然结构简单，但是传输扭矩不够大，在翻越障碍时动力不足，这将大大减弱其越障能力；（2）虽然有些机器人运动灵活，但是其需要控制的电机数目较多，从而导致机器人控制系统复杂，功耗增大，机械可靠性低，平均无故障时间短，这在某种程度上为其推广应用带来困难；（3）还有一些机器人产品，虽然越障方式新颖，但是其在越障过程中操作繁琐复杂，越障效率低，在一些需要快速通过障碍物的场合无法应用。The crawler swing arm obstacle-climbing robot is a kind of equipment that can move and climb over obstacles. It is one of the important automation equipment for field environmental reconnaissance, inspection, mine clearance and detection in harsh and dangerous environments. Because this type of robot It has a strong ability to overcome obstacles and adapt to complex outdoor terrains, and has good passability in uneven and obstacle-filled road environments, so its application fields are becoming wider and wider. At present, the existing obstacle-crossing robot products have the following defects: (1) Although the structure of the robot is simple, the transmission torque is not large enough, and the power is insufficient when climbing over obstacles, which will greatly weaken its ability to overcome obstacles; (2) Although some robots are flexible in movement , but it needs to control a large number of motors, which leads to the complexity of the robot control system, increased power consumption, low mechanical reliability, and short mean time between failures, which brings difficulties to its popularization and application to some extent; (3 ) There are also some robot products, although the obstacle surmounting method is novel, but its operation is cumbersome and complicated during the obstacle surmounting process, the obstacle surmounting efficiency is low, and it cannot be applied in some occasions that need to quickly pass through obstacles.
发明内容Contents of the invention
为了解决现有技术中存在的不足，本发明提供了一种履带摆臂式越障机器人，为满足野外复杂地形侦查、巡视和危险环境探测等工作需要提供装备，创新设计了机器人内部传动结构，基于该传动结构的机器人不仅能够灵活移动还具有传输扭矩大、控制系统简单、机械可靠性和越障效率高等优点，具有良好的应用前景，值得推广。In order to solve the deficiencies in the prior art, the present invention provides a track-swing arm type obstacle-climbing robot, which provides equipment to meet the needs of field complex terrain investigation, patrol and dangerous environment detection, and innovatively designs the internal transmission structure of the robot. The robot based on this transmission structure can not only move flexibly, but also has the advantages of large transmission torque, simple control system, mechanical reliability and high obstacle-crossing efficiency. It has good application prospects and is worthy of promotion.
为解决上述问题，本发明具体采用以下技术方案：In order to solve the above problems, the present invention specifically adopts the following technical solutions:
一种履带摆臂式越障机器人，其特征在于，包括车体，所述车体的两侧分别设有一组运动系统，每组运动系统包括两个履带摆臂装置，分别设于车体一侧的两端，所述履带摆臂装置包括摆臂以及设于摆臂上的履带，所述车体内设有同时控制两组运动系统中摆臂转动的第一传动机构以及控制一侧运动系统中履带转动的第二传动机构，所述第一传动机构设于车体的中部，所述第二传动机构设为两组，分别设置于第一传动机构的两侧。A crawler swing arm type obstacle-surmounting robot is characterized in that it includes a car body, and a group of motion systems are respectively provided on both sides of the car body, and each group of motion systems includes two crawler swing arm devices, which are respectively arranged on one side of the car body. At both ends of the side, the crawler swing arm device includes a swing arm and a track mounted on the swing arm. The car body is equipped with a first transmission mechanism that simultaneously controls the rotation of the swing arm in the two sets of motion systems and controls the movement of one side. The second transmission mechanism for crawler belt rotation in the system, the first transmission mechanism is arranged in the middle of the vehicle body, and the second transmission mechanism is set as two groups, which are respectively arranged on both sides of the first transmission mechanism.
前述的一种履带摆臂式越障机器人，其特征在于，所述第一传动机构包括第一电机以及由第一电机驱动的第一主动轮，所述第一主动轮的两侧分别依次啮合于第一从动轮、第二从动轮，所述第二从动轮的转动轴的两端分别连接摆臂。The aforementioned crawler swing arm type obstacle-surmounting robot is characterized in that the first transmission mechanism includes a first motor and a first driving wheel driven by the first motor, and the two sides of the first driving wheel are sequentially engaged with each other. For the first driven wheel and the second driven wheel, both ends of the rotating shaft of the second driven wheel are respectively connected with swing arms.
前述的一种履带摆臂式越障机器人，其特征在于，所述第二从动轮的转动轴的两端分别通过电磁离合器与摆臂相连接。The aforesaid crawler swing arm obstacle-climbing robot is characterized in that the two ends of the rotating shaft of the second driven wheel are respectively connected to the swing arm through electromagnetic clutches.
前述的一种履带摆臂式越障机器人，其特征在于，对称设置于第一传动机构两侧的第二传动机构包括第二电机以及由第二电机驱动的第二主动轮，所述第二主动轮的两侧分别与第三从动轮相啮合，所述第三从动轮与第四从动轮同轴连接，即第三从动轮与第四从动轮共用一个转动轴或者二者的转动轴相连接，则第三从动轮与第四从动轮平行，所述第四从动轮啮合于第五从动轮，所述第五从动轮带动履带转动。The aforementioned crawler swing arm type obstacle-surmounting robot is characterized in that the second transmission mechanism symmetrically arranged on both sides of the first transmission mechanism includes a second motor and a second driving wheel driven by the second motor. Both sides of the driving wheel are respectively meshed with the third driven wheel, and the third driven wheel is coaxially connected with the fourth driven wheel, that is, the third driven wheel and the fourth driven wheel share a rotating shaft or the rotating shafts of the two are in phase. connected, the third driven wheel is parallel to the fourth driven wheel, the fourth driven wheel meshes with the fifth driven wheel, and the fifth driven wheel drives the track to rotate.
前述的一种履带摆臂式越障机器人，其特征在于，所述第五从动轮的中部贯穿有套筒，所述套筒的一端连接于带动履带转动的大履带轮，所述大履带轮的一侧设有随大履带轮转动的小履带轮，所述履带围设在大履带轮、小履带轮的外侧。因此，其实，第一主动轮、第二主动轮两侧从动轮的分布均是对称设置的，亦即说明，第一传动机构、第二传动机构本身就为对称结构。The aforementioned crawler swing arm type obstacle-climbing robot is characterized in that a sleeve runs through the middle of the fifth driven wheel, and one end of the sleeve is connected to a large track wheel that drives the track to rotate, and the large track wheel One side is provided with the small track wheel that rotates with the big track wheel, and the track is surrounded by the outside of the big track wheel and the small track wheel. Therefore, in fact, the distribution of the driven wheels on both sides of the first driving wheel and the second driving wheel is symmetrical, that is to say, the first transmission mechanism and the second transmission mechanism themselves are symmetrical structures.
前述的一种履带摆臂式越障机器人，其特征在于，第二从动轮的转动轴的两端分别穿过套筒与摆臂相连接。The aforementioned crawler swing arm obstacle-climbing robot is characterized in that the two ends of the rotating shaft of the second driven wheel are respectively connected to the swing arm through the sleeve.
前述的一种履带摆臂式越障机器人，其特征在于，第一电机与第一主动轮、第二电机与第二主动轮之间均设有蜗杆减速器。The aforementioned crawler swing arm obstacle-climbing robot is characterized in that a worm reducer is provided between the first motor and the first driving wheel, and between the second motor and the second driving wheel.
前述的一种履带摆臂式越障机器人，其特征在于，所述第一电机为小型步进电机，所述第一电机到摆臂的总减速比为80。The aforementioned crawler swing arm type obstacle-surmounting robot is characterized in that the first motor is a small stepping motor, and the total reduction ratio from the first motor to the swing arm is 80.
前述的一种履带摆臂式越障机器人，其特征在于，所述第二电机为小型直流电机，所述第二电机到履带的总减速比为56。The aforementioned crawler swing arm type obstacle-surmounting robot is characterized in that the second motor is a small DC motor, and the total reduction ratio between the second motor and the crawler is 56.
本发明的有益效果：本发明提供的一种履带摆臂式越障机器人，与轮式机器人相比，履带具有与地面接触面积大、传动平稳的特点，这将增大其在凸凹不平的路面上的通过能力。当遇到台阶、路面凸起等障碍时，机器人借助摆臂支撑车体，在此同时机器人履带仍然可以转动，从而使机器人越过障碍。当机器人爬坡时，电机输出动力经过蜗杆减速器减速后，又经过两级齿轮传动，最终将动力传递致履带，这将大大增加输出扭矩，这有助于机器人的越障和爬坡运动。由于蜗杆机构具有反向自锁的功能，所以当机器人爬坡时或者摆臂处于车体上方，电机停止转动时，不会因为重力的作用而使机器人和摆臂自由落下，这将使控制变的相对简单。与现有越障机器人相比，在使用同类电机的情况下，该履带摆臂式越障机器人能输出更大扭矩，结构紧凑，运动更灵活，越长能力更强，控制系统相对简单，通用性强，能满足不同种类作业对设备的要求，具有良好的应用前景，值得推广。Beneficial effects of the present invention: Compared with the wheeled robot, the crawler swing arm type obstacle-surpassing robot provided by the present invention has the characteristics of large contact area with the ground and stable transmission, which will increase its ability to overcome uneven road surfaces. on the ability to pass. When encountering obstacles such as steps and road bumps, the robot supports the car body with the help of the swing arm, and at the same time, the robot crawler can still rotate, so that the robot can cross the obstacle. When the robot is climbing, the output power of the motor is decelerated by the worm reducer, and then passed through two-stage gear transmission, and finally the power is transmitted to the track, which will greatly increase the output torque, which is helpful for the robot to overcome obstacles and climb. Since the worm mechanism has a reverse self-locking function, when the robot climbs a slope or the swing arm is above the car body and the motor stops rotating, the robot and the swing arm will not fall freely due to the action of gravity, which will make the control variable. is relatively simple. Compared with existing obstacle-surmounting robots, the crawler swing-arm obstacle-surmounting robot can output greater torque when using similar motors, has a compact structure, more flexible movement, longer and stronger capabilities, a relatively simple control system, and a universal Strong performance, can meet the equipment requirements of different types of operations, has a good application prospect, and is worth popularizing.
附图说明Description of drawings
图1为本发明的一种履带摆臂式越障机器人的结构示意图；Fig. 1 is a structural schematic diagram of a crawler swing arm type obstacle-climbing robot of the present invention;
图2为内部传动机构结构示意图；Figure 2 is a schematic structural diagram of the internal transmission mechanism;
图3为车体与履带摆臂装置连接结构示意图；Fig. 3 is a schematic diagram of the connection structure between the car body and the crawler swing arm device;
图4为该履带摆臂式越障机器人越障示意图，其中图4（a）表示该机器人遇到障碍提前将两个前摆臂抬起，图4（b）表示该机器人的前摆臂与障碍物接触，图4（c）表示利用摆臂将车身抬起，图4（d）表示该机器人将两个后摆臂旋转至形成攻角，图4（e）表示后摆臂与障碍物接触，图4（f）表示该机器人翻越障碍。Figure 4 is a schematic diagram of the crawler swing-arm obstacle-surmounting robot, in which Figure 4(a) shows that the robot lifts the two front swing arms in advance when encountering obstacles, and Figure 4(b) shows that the robot's front swing arm and Obstacle contact, Figure 4(c) shows that the body is lifted by the swing arm, Figure 4(d) shows that the robot rotates the two rear swing arms to form an angle of attack, Figure 4(e) shows the rear swing arm and the obstacle contact, Fig. 4(f) shows that the robot climbs over the obstacle.
附图标记含义如下：The reference signs have the following meanings:
1：车体；2：履带摆臂装置；21：摆臂；22：履带；3：第一传动机构；31：第一电机；32：第一主动轮；33：第一从动轮；34：第二从动轮；35：转动轴；4：第二传动机构；41：第二电机；42：第二主动轮；43：第三从动轮；44：第四从动轮；45：第五从动轮；5：电磁离合器；6：套筒；7：大履带轮；8：小履带轮；9：蜗杆减速器。1: car body; 2: track swing arm device; 21: swing arm; 22: track; 3: first transmission mechanism; 31: first motor; 32: first driving wheel; 33: first driven wheel; 34: The second driven wheel; 35: rotating shaft; 4: the second transmission mechanism; 41: the second motor; 42: the second driving wheel; 43: the third driven wheel; 44: the fourth driven wheel; 45: the fifth driven wheel ;5: electromagnetic clutch; 6: sleeve; 7: large track wheel; 8: small track wheel; 9: worm reducer.
具体实施方式detailed description
下面结合附图对本发明作进一步描述。The present invention will be further described below in conjunction with the accompanying drawings.
如图1和图2所示，一种履带摆臂式越障机器人，包括车体1，车体1即为该机器人车体，车体1用于存放电源和该机器人的控制系统，还可以作为机械手臂或其他装备的底座支撑，所述车体1的两侧分别设有一组运动系统，通过车体1两侧的运动系统相互配合运动，实现该机器人的移动，每组运动系统包括两个履带摆臂装置2，分别设于车体1一侧的两端，所述履带摆臂装置2包括摆臂21以及设于摆臂21上的履带22，摆臂21和履带22的运动是分开的，所述车体1内设有同时控制两组运动系统中摆臂21转动的第一传动机构3以及控制一侧运动系统中履带22转动的第二传动机构4，所述第一传动机构3设于车体1的中部，所述第二传动机构4设为两组，分别设置于第一传动机构3的两侧，因此，第一传动机构3同时控制所有的四个摆臂21的转动，而每一侧的第二传动机构4分别控制相对应的两个履带22的转动，即实现了履带22转动与摆臂21转动为两个相互独立的运动。As shown in Figures 1 and 2, a crawler swing arm type obstacle-climbing robot includes a car body 1, which is the robot car body, and the car body 1 is used to store the power supply and the control system of the robot. As the base support of the mechanical arm or other equipment, a group of motion systems are respectively provided on both sides of the car body 1, and the motion systems on both sides of the car body 1 cooperate with each other to realize the movement of the robot. Each group of motion systems includes two A crawler swing arm device 2 is respectively arranged at two ends on one side of the car body 1. The crawler swing arm device 2 includes a swing arm 21 and a crawler belt 22 arranged on the swing arm 21. The movement of the swing arm 21 and the crawler belt 22 is Separately, the car body 1 is provided with a first transmission mechanism 3 that simultaneously controls the rotation of the swing arm 21 in the two groups of motion systems and a second transmission mechanism 4 that controls the rotation of the crawler belt 22 in the one-side motion system. The mechanism 3 is located in the middle of the car body 1, and the second transmission mechanism 4 is set as two groups, which are respectively arranged on both sides of the first transmission mechanism 3, so the first transmission mechanism 3 controls all four swing arms 21 at the same time. The rotation of the second transmission mechanism 4 on each side respectively controls the rotation of the corresponding two crawlers 22, that is, the rotation of the crawler belt 22 and the rotation of the swing arm 21 are realized as two mutually independent movements.
详细的，所述第一传动机构3包括第一电机31以及由第一电机31驱动的第一主动轮32，所述第一主动轮32的两侧分别依次啮合于第一从动轮33、第二从动轮34，所述第二从动轮34的转动轴35的两端分别通过电磁离合器5与摆臂21相连接。第一电机31提供动力，驱动第一主动轮32转动，从而带动第一从动轮33、第二从动轮34转动，在第二从动轮34的转动轴35与摆臂21之间均设置了电磁离合器5，即一个摆臂21对应一个电磁离合器5，每个摆臂21单独由一个电磁离合器5控制，通过车体1内的控制系统控制电磁离合器5的开关，从而控制每个摆臂21的独立运动，实现不同摆臂21的转动。In detail, the first transmission mechanism 3 includes a first motor 31 and a first driving wheel 32 driven by the first motor 31, and the two sides of the first driving wheel 32 respectively mesh with the first driven wheel 33, the second Two driven wheels 34 , the two ends of the rotating shaft 35 of the second driven wheel 34 are respectively connected with the swing arm 21 through the electromagnetic clutch 5 . The first motor 31 provides power to drive the first driving wheel 32 to rotate, thereby driving the first driven wheel 33 and the second driven wheel 34 to rotate, and an electromagnet is installed between the rotating shaft 35 of the second driven wheel 34 and the swing arm 21. Clutch 5, that is, a swing arm 21 corresponds to an electromagnetic clutch 5, each swing arm 21 is controlled by an electromagnetic clutch 5 independently, and the switch of the electromagnetic clutch 5 is controlled by the control system in the vehicle body 1, thereby controlling each swing arm 21 The independent movement realizes the rotation of different swing arms 21 .
详细的，对称设置于第一传动机构3两侧的第二传动机构4包括第二电机41以及由第二电机41驱动的第二主动轮42，第二传动机构4设为两个，其对称分布在第一传动机构3的两侧，即对称分布于车体1内部，每个第二传动机构4控制一组运动系统内的两个履带摆臂装置2运动，所述第二主动轮42的两侧分别与第三从动轮43相啮合，所述第三从动轮43与第四从动轮44同轴连接，所述第四从动轮44啮合于第五从动轮45，所述第五从动轮45带动履带22转动。具体为，所述第五从动轮45的中部贯穿有套筒6，所述套筒6的一端连接于带动履带22转动的大履带轮7，所述大履带轮7的一侧设有随大履带轮7转动的小履带轮8，所述履带22围设在大履带轮7、小履带轮8的外侧。第二电机41提供动力，驱动第二主动轮42转动，从而带动第二主动轮42两侧的第三从动轮43转动，由于第三从动轮43与第四从动轮44同轴连接，因此，第四从动轮44随着第三从动轮43转动而转动，并带动第五从动轮45转动，通过第五从动轮45中部贯穿的套筒6，继而带动大履带轮7、小履带轮8转动，最终履带22随之转动，带动该机器人运动。此外，第一传动机构3中第二从动轮34的转动轴35的两端分别穿过套筒6与摆臂21相连接，这样，合理设计了套筒6与转动轴35之间的位置，既不会影响二者分别带动的履带或摆臂的转动，又将履带、摆臂的运动分开，实现二者运动的相互独立。In detail, the second transmission mechanism 4 symmetrically arranged on both sides of the first transmission mechanism 3 includes a second motor 41 and a second driving wheel 42 driven by the second motor 41. The second transmission mechanism 4 is set to two, which are symmetrical Distributed on both sides of the first transmission mechanism 3, that is, symmetrically distributed inside the car body 1, each second transmission mechanism 4 controls the movement of two crawler swing arm devices 2 in a group of motion systems, and the second driving wheel 42 The two sides of the two sides are respectively engaged with the third driven wheel 43, and the third driven wheel 43 is coaxially connected with the fourth driven wheel 44, and the fourth driven wheel 44 is engaged with the fifth driven wheel 45, and the fifth driven wheel 45 is engaged with the fifth driven wheel 45. The moving wheel 45 drives the crawler belt 22 to rotate. Specifically, a sleeve 6 runs through the middle of the fifth driven wheel 45, and one end of the sleeve 6 is connected to the large track wheel 7 that drives the track 22 to rotate. One side of the large track wheel 7 is provided with a large track wheel. The small track wheel 8 that the track wheel 7 rotates, and the track belt 22 is surrounded by the outside of the large track wheel 7 and the small track wheel 8 . The second motor 41 provides power to drive the second driving wheel 42 to rotate, thereby driving the third driven wheel 43 on both sides of the second driving wheel 42 to rotate. Since the third driven wheel 43 is coaxially connected with the fourth driven wheel 44, therefore, The fourth driven wheel 44 rotates with the rotation of the third driven wheel 43, and drives the fifth driven wheel 45 to rotate, passes through the sleeve 6 in the middle of the fifth driven wheel 45, and then drives the large track wheel 7 and the small track wheel 8 to rotate , and finally the crawler belt 22 rotates thereupon, driving the robot to move. In addition, the two ends of the rotating shaft 35 of the second driven wheel 34 in the first transmission mechanism 3 respectively pass through the sleeve 6 and are connected to the swing arm 21. In this way, the position between the sleeve 6 and the rotating shaft 35 is reasonably designed. It will not affect the rotation of the track or the swing arm respectively driven by the two, and separates the motion of the track and the swing arm to realize the mutual independence of the two motions.
详细的，第一电机31与第一主动轮32、第二电机41与第二主动轮42之间均设有蜗杆减速器9。由于蜗杆减速器9具有反向自锁的功能，所以当该机器人爬坡时或者摆臂处于车体上方、电机停止转动时，不会因为重力的作用而使机器人和摆臂自由落下，这将使控制变的相对简单。In detail, a worm reducer 9 is provided between the first motor 31 and the first driving wheel 32 , and between the second motor 41 and the second driving wheel 42 . Because the worm reducer 9 has the function of reverse self-locking, so when the robot climbs a slope or the swing arm is above the car body and the motor stops rotating, the robot and the swing arm will not fall freely due to the effect of gravity, which will Make the control relatively simple.
详细的，所述第一电机31为小型步进电机，所述第二电机41为小型直流电机，蜗杆减速器的传动比为20，所述第一电机31到摆臂21的总减速比为80，所述第二电机41到履带22的总减速比为56。两个第二电机41主要驱使履带转动带动机器人移动，在保证输出较大传动比的同时，也要兼顾行驶速度；而第一电机31主要控制摆臂摆动，在越障时不需要过高的速度，但是需要输出较大扭矩，故总传动比相对较大，由于第一电机31是步进电机，通过控制电机转角达到精确控制摆臂旋转角度的目的。In detail, the first motor 31 is a small stepping motor, the second motor 41 is a small DC motor, the transmission ratio of the worm reducer is 20, and the total reduction ratio from the first motor 31 to the swing arm 21 is 80. The total reduction ratio from the second motor 41 to the crawler belt 22 is 56. The two second motors 41 mainly drive the track to rotate and drive the robot to move. While ensuring a large transmission ratio, the driving speed must also be taken into account; while the first motor 31 mainly controls the swing of the swing arm, and does not need too high a speed when crossing obstacles. speed, but needs to output a large torque, so the total transmission ratio is relatively large. Since the first motor 31 is a stepping motor, the purpose of precisely controlling the rotation angle of the swing arm is achieved by controlling the motor rotation angle.
该履带摆臂式越障机器人整体采用对称式结构，包括车体1即机器人车身、四个履带摆臂装置2、三组齿轮传动机构（一组第一传动机构3以及两组第二传动机构4）和四个电磁离合器5，四个履带摆臂装置2是该机器人行走和越障的主要构件，其分别安装在机器人车身的外侧，机器人车身一般为方形的，即四个履带摆臂装置2分别安装在机器人车身的四个角上，三组齿轮传动机构和四个电磁离合器5安装在车体内，它们各自将电机输出的动力传递至四组履带摆臂装置2上，每一个履带摆臂装置2都是由大履带轮7、小履带轮8、履带22以及摆臂21组成的，每一组齿轮传动机构都是由两级齿轮传动组成，摆臂的摆动和摆臂上履带的转动是两个相互独立的运动，这种能增大机器人越障性能的结构是通过套筒与轴组合来实现的，其中摆臂21可以绕中心轴线360度回转，履带在摆臂摆动的过程中可以转动，两个运动相互独立。如图3所示，电磁离合器5处于结合状态时，第一电机31转动带动转动轴35转动，进而带动摆臂21转动，同时，第二电机41转动，将动力传递至第五从动轮45，进而带动套筒6和大履带轮7转动，从而驱动履带运动而使机器人移动。The crawler swing arm type obstacle-climbing robot adopts a symmetrical structure as a whole, including a car body 1, namely the robot body, four crawler swing arm devices 2, three sets of gear transmission mechanisms (one set of first transmission mechanisms 3 and two sets of second transmission mechanisms 4) and four electromagnetic clutches 5, four crawler swing arm devices 2 are the main components for the robot to walk and overcome obstacles, which are respectively installed on the outside of the robot body. The robot body is generally square, that is, four crawler swing arm devices 2 are respectively installed on the four corners of the robot body, three sets of gear transmission mechanisms and four electromagnetic clutches 5 are installed in the body, and they respectively transmit the power output by the motor to four sets of track swing arm devices 2, each track swing Arm device 2 is all made up of large crawler wheel 7, small crawler wheel 8, crawler belt 22 and swing arm 21, each group of gear transmission mechanism is made up of two-stage gear transmission, the swing of swing arm and the movement of track on the swing arm Rotation is two independent movements. This structure that can increase the obstacle-surpassing performance of the robot is realized through the combination of the sleeve and the shaft. The swing arm 21 can rotate 360 degrees around the central axis. The center can be rotated, and the two movements are independent of each other. As shown in Figure 3, when the electromagnetic clutch 5 is in the combined state, the first motor 31 rotates to drive the rotating shaft 35 to rotate, and then drives the swing arm 21 to rotate. At the same time, the second motor 41 rotates to transmit power to the fifth driven wheel 45. Then drive the sleeve 6 and the large crawler wheel 7 to rotate, thereby driving the crawler to move the robot.
同一侧的两个履带摆臂装置2中，两个履带22的转动由一台电机即第二电机41驱动，则四个履带分别由两台电机（第二电机41）驱动，这两台电机同时正转或反转，可以控制机器人前后移动，两台电机一台正转一台反转，则驱动机器人左右转弯。除了履带转动之外，承载着履带的摆臂也可以转动，四个摆臂的摆动是由同一台电机即第一电机31驱动的，但是每一个驱动摆臂转动的转动轴上都装有电磁离合器5，通过控制不同转动轴上电磁离合器5的状态，就可以达到控制不同摆臂转动的目的，每个电磁离合器都是相互独立的，通过车体1内控制系统来控制的，因此根据需要，通过控制任何一个电磁离合器5的接合与断开来控制与其对应的摆臂摆动，同样的原理，也可以控制多个摆臂同时摆动，大大增大了机器人的灵活性。In the two crawler swing arm devices 2 on the same side, the rotation of the two crawler belts 22 is driven by a motor, that is, the second motor 41, and the four crawler belts are respectively driven by two motors (second motor 41). At the same time, the forward or reverse rotation can control the robot to move forward and backward. One of the two motors rotates forward and the other rotates reversely, and the robot is driven to turn left and right. In addition to the rotation of the track, the swing arm carrying the track can also rotate. The swing of the four swing arms is driven by the same motor, that is, the first motor 31, but each rotating shaft that drives the swing arm is equipped with an electromagnet. The clutch 5 can achieve the purpose of controlling the rotation of different swing arms by controlling the state of the electromagnetic clutch 5 on different rotating shafts. Each electromagnetic clutch is independent of each other and is controlled by the control system in the car body 1. Therefore, according to the needs , by controlling the engagement and disconnection of any electromagnetic clutch 5 to control the swing of the corresponding swing arm, the same principle can also control multiple swing arms to swing at the same time, which greatly increases the flexibility of the robot.
如图4所示，当前方有障碍时，在行驶过程中该机器人提前将两个前摆臂抬起，形成前攻角，如图4（a）所示，当机器人行驶至前摆臂与障碍物接触时，如图4（b）所示，利用摆臂将车身抬起，如图4（c）所示，此时履带继续转动带动机器人向前移动，并在车体向前移动过程中将后摆臂绕顺时针方向转过来形成后攻角，如图4（d）所示，当行驶至后摆臂接触障碍物时，在机器人向前行驶过程中利用前摆臂将整个车体抬起，如图4（e）所示，从而使得机器人翻越障碍即图4（f）。As shown in Figure 4, when there is an obstacle ahead, the robot lifts the two front swing arms in advance during driving to form a forward angle of attack, as shown in Figure 4(a), when the robot travels to the When the obstacle touches, as shown in Figure 4(b), use the swing arm to lift the body, as shown in Figure 4(c), at this time the track continues to rotate to drive the robot to move forward, and the body moves forward Turn the rear swing arm clockwise to form the rear attack angle, as shown in Figure 4(d), when the robot travels until the rear swing arm touches the obstacle, use the front swing arm to move the entire vehicle forward. The body is lifted, as shown in Figure 4(e), so that the robot can climb over the obstacle, which is shown in Figure 4(f).
以上显示和描述了本发明的基本原理、主要特征及优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments, and what described in the above-mentioned embodiments and the description only illustrates the principles of the present invention, and the present invention will also have other functions without departing from the spirit and scope of the present invention. Variations and improvements all fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510311140.5ACN104986233B (en) | 2015-06-09 | 2015-06-09 | A crawler swing arm type obstacle-surpassing robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510311140.5ACN104986233B (en) | 2015-06-09 | 2015-06-09 | A crawler swing arm type obstacle-surpassing robot |
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| CN104986233A CN104986233A (en) | 2015-10-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510311140.5AExpired - Fee RelatedCN104986233B (en) | 2015-06-09 | 2015-06-09 | A crawler swing arm type obstacle-surpassing robot |
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| CN (1) | CN104986233B (en) |
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