CN102285388B - Walking robot - Google Patents
Walking robot Download PDFInfo
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- CN102285388B CN102285388B CN 201010202008 CN201010202008A CN102285388B CN 102285388 B CN102285388 B CN 102285388B CN 201010202008 CN201010202008 CN 201010202008 CN 201010202008 A CN201010202008 A CN 201010202008A CN 102285388 B CN102285388 B CN 102285388B
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- wheel assembly
- walking robot
- walking
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Abstract
The invention relates to a walking robot, comprising a left wheel assembly and a right wheel assembly used for walking and a connection assembly used for connecting the two assemblies, and further comprising a steering assembly arranged on the left wheel assembly or the right wheel assembly for adjusting a relative angle between the left and right wheel assemblies. By adjusting the relative angle between the left and right wheel assemblies by the steering assembly, the walking robot can apply to earth surface with different shapes, for example, when the walking robot walks on a flat ground, the two wheel assemblies are adjusted to be 180 degrees so that the two bottom surfaces are in a same plane; when the walking robot needs to crawls a door panel, the two bottom surfaces are adjusted to be 0 degrees and a space which is the same as the thickness of the door panel is reserved between the two bottom surfaces, so that the left and right wheel assemblies clamps the door panel and walks upwards; and synchronously, as for corrugated surfaces in various angles, the left and right wheel assemblies can be adjusted to relative angles, the connection assembly tensions the left and right wheel assemblies to keep the degree of angle, the walking robot can walk by driving the left and right wheel assemblies to rotate.
Description
Technical field
The present invention relates to walking robot, more particularly, relate to a kind of can be on the plane and certain curved surface motion can be on the plane and certain curved surface move, and can be by the walking robot of clamping plate object along its border movement.
Background technology
Existing walking robot mainly has for function blockes such as the wheel class formation of walking and arms.Its wheel is generally two or three, and its relative position of the axis of a plurality of wheels is fixedly installed, and the bottom surface is coplanar, main still level land, the walking ground of institute.Ground segment itself for the sort of walking wheel contact is not the plane just, but the shapes such as convex surface or concave surface, the design of conventional above-mentioned wheel just can't be walked.
Summary of the invention
The technical problem to be solved in the present invention is, for the above-mentioned wheel axis of prior art fix, the bottom surface is coplanar and can only walk the defective on plane, provides a kind of plane of can walking also can be at the walking robot of protruding or recessed surface walking.
The technical solution adopted for the present invention to solve the technical problems is: construct a kind of walking robot, comprise for revolver assembly, right wheel assembly and the coupling assembling that is connected the two, also comprise the steering assembly of relative angle between the described left and right wheel assembly of the adjustment that is arranged on described revolver assembly and/or the right wheel assembly.
In walking robot of the present invention, described revolver assembly and right wheel assembly lay respectively at described coupling assembling both sides, and the coupling assembling both sides are respectively equipped with a steering assembly and are connected with described left/right wheel assembly.
In walking robot of the present invention, described coupling assembling comprises permanent seat and two linear electric motors that are contained in described permanent seat both sides, and the mouth of described linear electric motors stretches out respectively permanent seat and captives joint with the steering assembly of respective side.
In walking robot of the present invention, described steering assembly comprises the pull bar that vertically is installed in described coupling assembling one side and is arranged on the described left/right wheel assembly and is parallel to the horizontal rotating shaft of direction of travel, described rotating shaft be set in the described pull bar end and around the shaft axis relatively rotate.
In walking robot of the present invention, described left/right wheel assembly comprises axle stand, be contained on the described axle stand and drive motor, front-wheel and trailing wheel that axis is parallel to each other, and trailing wheel is connected to rotate with its mouth by driving band with described drive motor.
In walking robot of the present invention, between described left/right wheel assembly and the described steering assembly Buffer Unit is housed.
In walking robot of the present invention, described Buffer Unit comprises the sleeve column that is arranged on the described left/right wheel assembly, is set in spring, roof beam structure and locking piece on the described sleeve column, described steering assembly is contained on the described roof beam structure, and described roof beam structure is enclosed within on the described sleeve column and spring contact, and described locking piece is locked in the described sleeve column outside, and roof beam structure is spacing.
In walking robot of the present invention, also comprise the empennage that is arranged on the described coupling assembling bottom surface, the relative bindiny mechanism in described empennage bottom surface inclined bottom surface arranges.
Implement walking robot of the present invention, have following beneficial effect: adjust relative angle between the left and right wheel assembly by steering assembly, to adapt to difform earth's surface, when for example walking on the level land, adjust two wheel assemblies and become 180 degree to make two bottom surfaces coplanar; And when needs are creeped door-plate, adjust synthetic 0 degree in two bottom surfaces and be separated with the distance suitable with door-plate thickness between the two, then left and right wheel assembly is clamped door-plate and upwards walking; Equally, can adjust left and right wheel assembly to corresponding angle for stupefied of various angles, coupling assembling keeps the angle at place with the two tension, drives left and right wheel assembly rotation and can realize walking.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples, in the accompanying drawing:
Fig. 1 is the structural representation that the left and right wheel assembly of walking robot preferred embodiment of the present invention be arranged in parallel;
Fig. 2 is the structural representation that is oppositely arranged embodiment illustrated in fig. 1;
Fig. 3 is the volume constructional drawing of looking from the centre to both sides embodiment illustrated in fig. 2.
The specific embodiment
The present invention relates to a kind of walking robot that can walk in kinds of surface, its preferred embodiment such as Fig. 1, Fig. 2 and shown in Figure 3, walking robot comprises revolver assembly, right wheel assembly, coupling assembling, steering assembly, Buffer Unit and empennage 500 among the embodiment.
Wherein, the revolver assembly has identical composition structure with right wheel assembly, comprises respectively axle stand 110, drive motor 120, front-wheel 130, trailing wheel 140 and driving band.As shown in Figure 1, drive motor 120, front-wheel 130 and trailing wheel 140 are housed on the axle stand 110, and the three is arranged in parallel, driving band connects front and rear wheel and the axle of drive motor 120 mouths is connected with trailing wheel 140, then rotate the output torque after drive motor 120 energisings, drive trailing wheel 140 and rotate, trailing wheel 140 drives front-wheel 130 and rotates, thereby the realization walking function, and direction of travel all the time with the wheel shaft perpendicular direction of front and rear wheel.
Revolver assembly and right wheel assembly arrange so that a symmetrical face is symmetrical, and the axis direction of the front and rear wheel of the two is corresponding revolver assembly or the direction of right wheel assembly.Left and right wheel assembly shown in Figure 1 wheel axis perpendicular direction separately is positioned at plane of symmetry both sides in plane of symmetry ground, this moment left and right wheel assembly the two, also be that angle between the two the wheel axis is 180 degree.
The known left and right wheel assembly of being convenient to walk can have multiple way of realization, be not limited to the drive motor 120 that is subjected to that the present embodiment exemplifies and drive, be transmitted the structure of the front and rear wheel combination of band interlock, obviously the wheel of left/right wheel assembly can only have one, and also need not transmission and bring connection this moment; Certainly wheel also can be set to more than two, can adopt scraggly crawler belt to substitute smooth driving band; In addition, can set up speed-change gear between drive motor 120 and the wheel and be used for slowing down and shifting gears speed governing, etc.Be left and right wheel assembly of the present invention as long as can realize the structure of walking function.
As shown in Figure 1, because the two Parallel Symmetric of left and right wheel assembly arranges, then the bottom surface of the two is coplanar, is co-located on the plane, and the walking robot of this moment is adapted at walking on the plane, such as the inclined-plane of bottom surface, desktop even certain slope etc.
When extending longitudinally raised or sunken level along the boss of corrugation, horizontal pipe etc. or having when walking on the surface of certain slope, left and right wheel assembly continues to keep the concordant words in bottom surface just can not keep balance, so need to regulate the angle of left and right wheel assembly between the two according to the degree of rat.The present invention adopts steering assembly to adjust angle between the left and right wheel assembly.
As shown in Figure 1, on left and right wheel assembly, respectively be provided with a steering assembly.Wherein, steering assembly comprises rotating shaft 320 and pull bar 310, and rotating shaft 320 is arranged on the left/right wheel assembly and is parallel to direction of travel also namely perpendicular to the wheel axis direction of front and rear wheel.Rotating shaft 320 two ends respectively are connected with a pull bar 310, and pull bar 310 1 ends are connected with coupling assembling, and the other end is provided with the collar, and the line of centers of the collar is perpendicular to pull bar 310.Insert in the collar respectively at rotating shaft 320 two ends, and can be in the collar around the shaft 320 axis rotate, then rotating shaft 320 is perpendicular to pull bar 310.Can realize being rotatably connected of rotating shaft 320 and the collar by modes such as bearing, bayonet locks.
Captive joint with two pull bars 310 respectively in the coupling assembling both sides, the pull bar 310 of every side is connected with rotating shaft 320.Then in the time need to or domatic walking of constant slope being arranged in level, left and right wheel assembly is placed on the walking surface.When the surface is to follow away the bulge-structure that direction is extended, left and right wheel assembly is positioned at the both sides of protruding vertex, rotating shaft 320 is rotated so that the relative pull bar 310 inclination certain angles of left and right wheel assembly around pull bar 310, until the bottom surface of two assemblies is dropped on respectively on the inclined-plane of both sides.At this moment, has the angle of spending less than 180 between the left and right wheel assembly.Equally, be that left and right wheel assembly is parked in the nadir both sides of concave surface when following away the concave surface of direction extension when walking is surperficial, the angle between the two is greater than 180 degree.
For the stability of further guaranteeing to walk, the coupling assembling of the present embodiment is gone back capable of regulating and is stablized spacing between two steering assemblies except the effect of playing the steering assembly that connects left and right side.As shown in Figure 1 and Figure 2, coupling assembling comprises permanent seat 210, linear electric motors 220, crossbeam 230 and guide rod 240.Wherein, permanent seat 210 is " mouth " shape framework, and two linear electric motors 220 are horizontal in framework respectively, and its mouth stretches out respectively the framework both sides, extending or shortening.The mouth afterbody is provided with the perforation perpendicular to the flexible directions of linear electric motors 220, and crossbeam 230 passes perforation and two ends captives joint with two vertical pull bar 310 1 ends respectively.Pull bar 310 is relatively perpendicular to permanent seat 210 and linear electric motors 220, and the guide rod 240 vertical with crossbeam 230 is housed on the pull bar 310, and it is mobile with pull bar 310 that guide rod 240 passes permanent seat 210, plays the effect into pull bar 310 guiding.Then after the energising, linear electric motors 220 work, mouth flexible and drive crossbeam 230 and pull bar 310 to permanent seat 210 near or away from, thereby the distance between two pull bars 310 and the left and right wheel assembly reduces or increases.
Can find full expression on the surfaces such as screen work between the walking surface that acts on projection of coupling assembling, especially upright crowning such as reveal limit, the wind glass.As shown in Figure 2, when walking robot when reveal is creeped facing up, rotating shaft 320 turn 90 degrees from Fig. 1 position and makes left and right wheel assembly bottom surface parallel with pull bar 310, the relative angle between the left and right wheel assembly be 0 the degree.Drive linear electric motors 220 work, make the distance between the pull bar 310 of left and right side be wider than door-plate thickness, left and right wheel assembly is placed on respectively the positive and negative at door-plate edge, then drives linear electric motors 220 work, shorten the distance between the left and right wheel assembly and be clamped on the door-plate.Drive motor 120 work on the left and right wheel assembly, the walking robot walking is vertically creeped on door-plate.
Do not make left and right wheel assembly clamp door-plate if coupling assembling has tightening force to control, and just connect the part of the two, Action of Gravity Field can make walking robot fall so.Therefore, adopt the coupling assembling of the present embodiment, can further expand walking robot and can walk at upright crowning.This walking manner can be applicable to high buildings and large mansions uprightly along on the creeping of beam, pane etc.
Equally, when walking surface when deeply being recessed into two relative vertical walls, walking robot places between two walls, the bottom surface of left and right wheel assembly turn to respectively and two walls are fitted, angle is 360 degree between this moment left and right wheel assembly.Linear electric motors 220 elongations make pull bar 310 promote respectively rotating shaft 320 and left and right wheel assembly is pressed on the wall.Drive motor 120 actions can realize the wall walking.The operations such as this walking manner can dive be surveyed to the slit between deep crack, the cabinet, shooting.
The present embodiment also further is respectively equipped with Buffer Unit at left and right wheel assembly, when being used for reducing linear electric motors 220 action to the impact of left and right wheel assembly.As shown in Figure 1 and Figure 2, Buffer Unit comprises sleeve column 410, spring 430, roof beam structure 440 and locking piece, and wherein, sleeve column 410 is fixedly installed on the axle stand 110 of left/right wheel assembly, and spring 430 is set on the sleeve column 410.The middle part of roof beam structure 440 is passed in rotating shaft 320, and can rotate relative to roof beam structure 440; Roof beam structure 440 two ends are provided with lasso, and lasso is through on the sleeve column 410 and contacts with spring 430.The end of sleeve column 410 is equipped with locking piece, and lasso and spring 430 are limited on the sleeve column 410.Locking piece can be the nut with the terminal set screw thread fit of sleeve column 410, also can be the bayonet locks etc. that pass sleeve column 410 terminal perforation, and its specific implementation this paper repeats no more.
In addition, such as Fig. 2, shown in Figure 3, the present invention also can be provided with empennage 500, and it is contained on the bottom surface of coupling assembling, an end close to the coupling assembling bottom surface, opposite side from relatively want far away, thereby become a low-angle with the coupling assembling plane, angle 2～10 spend between.Walking robot is when crowning such as door-plate side are creeped, empennage 500 supports fits with the surface from the teeth outwards, coupling assembling and left and right wheel assembly all form an inclination angle with the surface, and keep to the trend of the inboard walking of door-plate, can prevent that walking robot breaks away from the protrusions such as door-plate that are held.
To sum up, walking robot of the present invention has revolver assembly and the right wheel assembly for walking, and two assemblies can be adjusted angle between the two by steering assembly, in order to walk on different smooth or raised or sunken surfaces, coupling assembling has connected left and right wheel assembly makes the two maintenance be diverted the angle that assembly is adjusted.
Wherein, steering assembly does not limit by pull bar 310 and rotating shaft 320 and consists of, it can have multiple way of realization, for example steering assembly can be slider-crank mechanism, it comprises three connecting rods, wherein first connecting rod one end is captiveed joint with coupling assembling, the other end and second connecting rod one end are hinged, the second connecting rod other end is captiveed joint with the left/right wheel assembly, third connecting rod one end and first connecting rod are hinged, thereby the other end can slide enlarge or dwindles angle between first, second connecting rod along the second connecting rod length direction, thereby adjusts the relative angle between the left/right wheel assembly; Or, thereby be combined with physical construction by control circuit, electric elements etc. and consist of the mechanical arm left/right wheel assembly that overturns and change angle between the two, the mechanical arm of the terminal object of this upset is often seen in the prior art, for example the scraper bowl of bulldozer can shovel soil and then overturns and outwell, the switching mechanism of its use also can be realized the upset left/right wheel assembly among the present invention, and this paper repeats no more.
In addition, coupling assembling of the present invention do not limit adopt linear electric motors realize controlling two between the steering assembly distance so that control the walking surfaces such as crowning that distance one between the left and right wheel assembly adapts to different in width, thickness.Coupling assembling can be to have fixing length to make and have fixing spacing between the left and right wheel assembly, and for example it can be simple pipe link; Simultaneously, also can be and as the present embodiment, can realize the mechanism that elongates or shortens, it can merely come the structure of adjusted position postpone location by mechanical force, double-screw bolt and sleeve such as screw thread fit, thereby steering assembly connects by bearing with the two and does not rotate with the two, thus then double-screw bolt and sleeve mutually to screw different length be that the two total length of capable of regulating is adjusted the distance between the left and right wheel assembly; Also can realize by circuit, control module etc., for example the linear electric motors of the present embodiment.
The above is described embodiments of the invention by reference to the accompanying drawings; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; rather than restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not breaking away from the scope situation that aim of the present invention and claim protect, also can make a lot of forms, these all belong within the protection of the present invention.
Claims (5)
1. walking robot, it is characterized in that, comprise revolver assembly, right wheel assembly and the coupling assembling that is connected the two for walking, also comprise being arranged on steering assembly on described revolver assembly and the right wheel assembly, that be used for adjusting relative angle between described revolver assembly and the right wheel assembly;
Described revolver assembly and right wheel assembly lay respectively at described coupling assembling both sides, and the coupling assembling both sides are respectively equipped with a steering assembly and described revolver assembly and are connected wheel assembly and are connected;
Described coupling assembling comprises permanent seat (210) and is contained in two linear electric motors (220) of described permanent seat (210) both sides, and the mouth of described linear electric motors (220) stretches out respectively permanent seat (210) and captives joint with the steering assembly of respective side;
Described steering assembly comprises the pull bar (310) that vertically is installed in described coupling assembling one side and is arranged on described revolver assembly and the right wheel assembly and is parallel to the horizontal rotating shaft (320) of direction of travel, described rotating shaft (320) be set in described pull bar (310) terminal in and around the shaft (320) axis relatively rotate.
2. walking robot according to claim 1, it is characterized in that, described left/right wheel assembly comprises axle stand (110), is contained in described axle stand (110) is upper and axis is parallel to each other drive motor (120), front-wheel (130) and trailing wheel (140), and trailing wheel (140) is connected to rotate with its mouth by driving band with described drive motor (120).
3. walking robot according to claim 1 is characterized in that, between described left/right wheel assembly and the described steering assembly Buffer Unit is housed.
4. walking robot according to claim 3, it is characterized in that, described Buffer Unit comprises sleeve column (410), roof beam structure (440), the locking piece that is arranged on the described left/right wheel assembly and is set in spring (430) on the described sleeve column (410), described steering assembly is contained on the described roof beam structure (440), and described roof beam structure (440) is enclosed within described sleeve column (410) and upward contacts with spring (430), and described locking piece is locked in described sleeve column (410) tail end, and roof beam structure (440) is spacing.
5. walking robot according to claim 1 is characterized in that, also comprises the empennage (500) that is arranged on the described coupling assembling bottom surface, the relative bindiny mechanism in described empennage (500) bottom surface inclined bottom surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010202008 CN102285388B (en) | 2010-06-17 | 2010-06-17 | Walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010202008 CN102285388B (en) | 2010-06-17 | 2010-06-17 | Walking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102285388A CN102285388A (en) | 2011-12-21 |
| CN102285388B true CN102285388B (en) | 2013-03-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010202008 Active CN102285388B (en) | 2010-06-17 | 2010-06-17 | Walking robot |
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| Country | Link |
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| CN (1) | CN102285388B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171684B (en) * | 2020-09-10 | 2024-04-09 | 广东工业大学 | Rod piece holder |
| CN112429110B (en) * | 2020-12-12 | 2021-09-21 | 佳木斯大学 | Robot structure based on computer control |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3820497A (en) * | 1972-05-31 | 1974-06-28 | Konijn Machinebouw Nv | Transport vehicle |
| US4265326A (en) * | 1978-02-22 | 1981-05-05 | Willy Habegger | Rolling and stepping vehicle |
| CN101439737A (en) * | 2007-11-20 | 2009-05-27 | 王志良 | Drive structure and control device for moving robot platform |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63191582A (en) * | 1987-02-05 | 1988-08-09 | 株式会社明電舎 | Walking device for robot |
-
2010
- 2010-06-17 CN CN 201010202008 patent/CN102285388B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3820497A (en) * | 1972-05-31 | 1974-06-28 | Konijn Machinebouw Nv | Transport vehicle |
| US4265326A (en) * | 1978-02-22 | 1981-05-05 | Willy Habegger | Rolling and stepping vehicle |
| CN101439737A (en) * | 2007-11-20 | 2009-05-27 | 王志良 | Drive structure and control device for moving robot platform |
Non-Patent Citations (1)
| Title |
|---|
| JP昭63-191582A 1988.08.09 |
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| CN102285388A (en) | 2011-12-21 |
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Effective date of registration: 20160509 Address after: 518129 Guangdong city of Shenzhen province Nanshan District Keyuan North Long Tongfang information port building C 9A Patentee after: SHENZHEN TAIYANG TECHNOLOGY CO., LTD. Address before: 518040, room 1808, Anhui building, 6007 Shennan Road, Shenzhen, Guangdong, Futian District Patentee before: SmarTech Avanced Research, Shenzhen |