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Crawler type six-freedom-degree mobile robot

A technology of mobile robots and degrees of freedom, applied in tracked vehicles, motor vehicles, transportation and packaging, etc., can solve the problems of insufficient compact ground area, unfavorable protection of important components, limited obstacle height, etc., to achieve enhanced ground adaptability, Conducive to the effect of protecting and saving design space

Active Publication Date: 2015-03-25
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] 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 components also brings inconvenience to installation and commissioning

Method used

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  • Crawler type six-freedom-degree mobile robot
  • Crawler type six-freedom-degree mobile robot
  • Crawler type six-freedom-degree mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0043] see Figure 1 to Figure 10 , the crawler-type six-degree-of-freedom mobile robot includes two main motion modules 2 and 3 on the left and right sides, four swing arm motion modules 4, 5, 6, and 7 on the left front, right front, left rear, and right rear, and a frame 1. 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 se...

Embodiment 2

[0045] This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0046] 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 sy...

Embodiment 3

[0052] 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 positi...

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Abstract

The invention relates to a crawler type six-freedom-degree mobile robot which comprises a frame, main motion modules, swing arm motion modules, a control box and sensors. The whole robot has six freedom degrees, two main crawlers can move independently, through the design of a crawler type structure, the robot has high ground passage capacity and can run, steer and the like on a complex road surface, four swing arms can also move independently, and therefore the robot has excellent performance on climbing stairs, crossing obstacles and obstacle avoidance and other tasks.

Description

technical field [0001] 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. Background technique [0002] 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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D55/065
CPCB62D55/065
Inventor 罗均马捷蒲华燕吴斌瞿栋谢少荣邓景珊颜春明张娟陈功刘恒利邹旭东华凌云姚骏峰陈春朝
Owner SHANGHAI UNIV
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