CN107444510A - The tire climbing robot of single-degree-of-freedom six and movement technique - Google Patents

Abstract

The invention discloses a kind of tire climbing robot of single-degree-of-freedom six and movement technique, belong to climbing robot field.The robot includes fuselage, direct current generator, wireless control module, battery, can realize Remote.The wheel claw simulating crawling robot invented, imitate insect simply alternately three step states, including the part such as direct current generator, transmission mechanism, reduction gearing and tire；Wireless control module is housed, using two groups of tire driven patterns on fuselage.On the basis of ensureing that wheel efficiency is high, obstacle climbing ability is strong, with single DC motor Driver, light weight can be ensured as far as possible, investigation tasks can be completed in complicated landform, there is boundless application prospect.

Description

Single-degree-of-freedom six-wheel claw crawling robot and its motion method

technical field

The invention belongs to the field of bionic robots, and relates to a single-motor and single-degree-of-freedom crawling robot, in particular to a single-degree-of-freedom six-wheel claw crawling robot and a movement method.

Background technique

At present, the main motion mode adopted by crawling robots is wheel drive, but wheeled robots cannot adapt to complex terrains and have limited ability to overcome obstacles. With the increasingly wide range of robot applications, robots will gradually be applied to exploration in unknown unstructured environments with harsh conditions and complex terrains that humans cannot penetrate. This requires that the robot must have strong terrain adaptability and efficient movement patterns.

Compared with traditional mobile robots, the wheel-claw robot has stronger terrain adaptability, because each of its claws can achieve different actions, so it can rely on the coordinated actions of the claws to keep the body stable and adapt to complex terrain. The design of the wheel claw structure ensures that the robot can move at a high speed on soft and rough ground. However, the alternating three-leg movement of the six claws has better ground adaptability. Since the center of gravity driven by the claws has a certain ups and downs, it can cross certain obstacles. The six claws are easy to achieve static and stable walking. It is a redundant system. When one or two claws are damaged, the remaining claws can still be used to achieve walking.

Invention patent CN101850798A discloses a bionic cockroach robot based on a double four-bar linkage mechanism, which includes six sets of feet with the same structure and connecting plates connecting them together. The configuration of the feet adopts a double four-bar linkage mechanism, which is driven by three steering gears to respectively simulate the movement of the cockroach's hip joints, thigh joints and calf joints. From the perspective of bionics, it is reasonable to design a bionic cockroach robot with a multi-link structure. However, the robot has complex gait and low walking efficiency, so it is not suitable for actual detection and detection work.

Invention patent CN105539628A discloses a wheel-claw type cockroach-shaped bionic robot. The wheel-claw drive structure of the robot is a trident symmetrical structure. Each pair of wheel claws on the coaxial line is staggered by 60°, and the six wheel claws are driven by six motors respectively. The claws adopt a symmetrical structure and can move normally when retreating or overturning. The structure of the robot is compact, the wheel claws are larger than the chassis, and the anti-overturning ability is strong. However, its wheel claws have a simple triangular structure, which is not bionic and has limited ability to overcome obstacles.

Contents of the invention

The present invention first aims at the defects of the existing wheeled structure, and performs a bionic structure design, and finally realizes a simple and lightweight single-degree-of-freedom six-wheel claw crawling robot and a movement method. This robot has been verified by bionics, uses alternating diagonal three-legged gait, and adopts single-motor single-degree-of-freedom synchronous drive. It has high walking efficiency and certain obstacle-crossing ability. , light weight, and has a strong application prospect in the military field.

Above-mentioned technical problem of the present invention is mainly to be solved by following technical scheme:

A single-degree-of-freedom six-wheel claw crawling robot, including a fuselage, three axles arranged at the bottom of the fuselage, claws are installed at both ends of each axle, and a DC motor for driving the claws arranged on the fuselage 1. The gear reduction transmission mechanism also includes a wireless control module arranged on the fuselage, a miniature camera at the front of the fuselage and a battery for powering the entire crawling mechanism; it is characterized in that:

The output shaft of the above-mentioned DC motor is connected with the above-mentioned three wheel shafts through the gear reduction mechanism, and drives all the claws synchronously;

The above-mentioned claws are composed of a central wheel body and two arc-shaped claws evenly distributed in the circumferential direction of the center wheel body; the plane formed by the claw tips of the two arc-shaped claws and the axis of the wheel shaft is called the claw installation positioning surface. When the installation positioning surface is parallel to the horizontal plane, the installation method of the wheel claw is called horizontal installation. When the installation positioning surface is perpendicular to the horizontal surface, the installation method of the wheel claw is called vertical installation; the installation methods of the wheel claws at the two ends of the same axle are different; Adjacent axles have different mountings for the lugs. The above-mentioned claws are connected with the wheel shaft through the D-shaped hole.

The single-degree-of-freedom six-wheel claw crawling robot is characterized in that: the above-mentioned gear reduction transmission mechanism includes a main gear installation shaft equipped with three main gears, and also includes crown gears installed on the three axles respectively; the main gear and the crown gear In one-to-one correspondence, double-layer gears are installed between them; one layer of the double-layer gears meshes with the main gear, and the other layer of gears meshes with the crown gear.

The movement mode of the single-degree-of-freedom six-wheel claw crawling robot is characterized in that: the claws at both ends of the same axle, and the claws on the adjacent axles on the same side are installed in different ways, ensuring that the six-wheel claws are in a group of three. Diagonal gait movement is realized; six claws are driven by only one DC motor, and the synchronous diagonal three-foot gait is guaranteed through the driving structure. In the synchronous drive structure, the transmission shaft is driven by a DC motor, and the three sets of main shaft gears on the main gear installation shaft drive the double-layer gears to perform a first-stage deceleration, and then drive the wheel shafts through the crown teeth to ensure that the three wheel shafts rotate synchronously.

In the aforementioned single-degree-of-freedom wheel-claw crawling robot, the micro-camera can transmit real-time images back through the wireless control module.

Due to the adoption of the above technical scheme, the present invention has the following advantages: 1. The wheel claw adopts an arc structure, which has a larger ground contact area than the straight rod type, better anti-skid performance, and has better obstacle-surmounting ability when encountering complex geological conditions and terrains. stronger. 2. The crawling robot has a compact structure, and the wheel claws are larger than the body. It adopts a symmetrical structure, alternates three legs, has strong anti-overturning ability, and high mobility. 3. The fuselage and wheel claws are 3D printed, and the overall weight is less than 30g, which can achieve lightweight and create good conditions for further design of amphibious robots on land, land or land. 4. The DC motor directly drives the claws after being decelerated by gears, with strong driving force and fast speed.

Description of drawings:

Fig. 1 is the perspective view of crawling robot of the present invention;

Fig. 2 is the bottom view of crawling robot of the present invention;

Fig. 3 is the three-dimensional view of crawler robot claw of the present invention;

Label names in the figure: 1. Body, 2. Wheel claw, 2-1. Center wheel body, 2-2. Arc-shaped claw piece, 3. DC motor, 4. Wireless control module, 5. Micro camera, 6. Battery, 7. Main gear installation shaft, 8. Wheel shaft, 9. Main shaft gear, 10. Double-layer gear, 11. Crown teeth, 12. Gear reduction transmission mechanism.

detailed description:

In terms of overall structural design, the present invention provides a single-degree-of-freedom hexapod claw-type crawling robot, as shown in Figures 1 and 2, comprising a fuselage 1 and three axles 8 arranged at the bottom of the fuselage 1, each Both ends of the root wheel shaft 8 are equipped with claws 2, and also include a DC motor 3 for driving the claws on the fuselage, a gear reduction transmission mechanism 12, and a wireless control module 4 and a fuselage on the fuselage. The micro-camera 5 at the front of the body and the battery 6 for powering the whole crawling robot. Among them, the body 1 and the claw 2 are 3D printed, the main gear installation shaft 7 and the wheel shaft 8 are directly installed on the body 1 with the reserved holes, the DC motor 3 is fixed on the body 1 by bolts, and the wheel shaft 8 Driven by connecting with the claw 2 through a D-shaped hole; the miniature camera 5 is fixed on the front of the fuselage 1 by screws; the battery 6 and the wireless control module 4 are fixed on the fuselage 1, and are connected to the DC motor 3 and the miniature camera 5 through wires .

As shown in Figure 3, it is a three-dimensional view of the wheel claw of the present invention, the D-shaped hole of the wheel claw 2 is connected with the D-shaped shaft head of the output shaft 8, and the mounting methods of the wheel claws at both ends of the same wheel shaft are different; The claw installation method varies. When walking on flat ground, similar to the wheeled structure, a certain center of gravity fluctuation ensures that it has a better obstacle-surmounting ability than the wheeled structure.

As shown in Figure 2, it is a bottom view of the present invention, the DC motor 3 drives the main gear installation shaft 7, and the three groups of main shaft gears 9 on the installation shaft 7 drive the double-layer gear 10 to perform a first-stage deceleration, and then drive the wheel shaft 8 through the crown teeth 11, Ensure that the three output shafts rotate synchronously.

The miniature camera 5 installed at the front end of the robot can transmit images back in real time through the wireless control module 4 .

Claims (4)

1. a kind of tire climbing robot of single-degree-of-freedom six, including fuselage（1）, be arranged at fuselage（1）Three wheel shafts of bottom （8）, every wheel shaft both ends are respectively mounted tire（2）, in addition to the direct current generator for being used to drive tire being arranged on fuselage（3）、 Gear reduced drive mechanism（12）, in addition to the wireless control module being arranged on fuselage（4）, front fuselage minisize pick-up head （5）And the battery to the power supply of whole climbing robot（6）；It is characterized in that：

Above-mentioned direct current generator（3）Output shaft pass through the gear reduction（12）With above-mentioned three wheel shafts（8）It is connected, it is synchronous Drive all tires（2）；

Above-mentioned tire（2）By central wheel body（2-1）, be evenly distributed in 2 circumferential arc calvus of central wheel body（2-2）Composition； By 2 arc calvus（2-2）Pawl point and wheel shaft（8）Axis form plane be referred to as tire installation locating surface, work as installation Locating surface and tire during plane-parallel（2）Mounting means be referred to as being horizontally mounted, when installing locating surface and horizontal plane Tire（2）Mounting means it is referred to as vertically-mounted；The tire mounting means inequality at above-mentioned same wheel shaft both ends；The same side adjacent wheels The tire mounting means inequality of axle.

2. the tire climbing robot of single-degree-of-freedom six according to claim 1, it is characterised in that：Tire（2）Pass through D type holes With the wheel shaft（8）It is connected.

3. the tire climbing robot of single-degree-of-freedom six according to claim 1, it is characterised in that：Said gear deceleration transmission Mechanism（12）Three master gears are installed including one（9）Master gear installation axle（7）, in addition to it is respectively arranged in three wheel shafts （8）Crown gear（11）；Master gear（9）With crown gear（11）Correspond, be also equipped with double-layer gear between them （10）；Double-layer gear（10）One layer of gear and master gear（9）Engagement, another layer of gear and crown gear（11）Engagement.

4. the motion mode of the tire climbing robot of single-degree-of-freedom six according to claim 1, it is characterised in that：Same wheel The tire at axle both ends, and the tire mounting means inequality of the adjacent wheel shaft in the same side, ensure six tires（2）Using three tires as one The mode of group realizes that diagonal gait moves；Six tires（2）, only pass through a direct current generator（3）Driving, is protected by driving structure The synchronous diagonal three steps state of card.