Retractable drum type robot device
A robot and roller-type technology, applied in the field of machinery, can solve the problems of small driving force, sensitive to interference, poor stability, etc., and achieve the effect of large reduction ratio, large driving force and carrying capacity, good positioning and repositioning
Inactive Publication Date: 2007-11-14
XIDIAN UNIV
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Problems solved by technology
[0002] The current rolling robots are almost all spherical robots. Although spherical robots have advantages such as zero-angle turning, but because the contact between them and the ground is point contact, the driving force is small and the wear is relatively large. Sensitive to interference and poor stability
Moreover, once the spherical robot encounters a pit-shaped obstacle with a large enough radius during the movement, it cannot pass through, but can only go around by taking obstacle avoidance measures.
At present, the roller-type rolling robot whose contact with the ground is line contact has not been found at home and abroad.
Method used
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[0017] Referring to Fig. 1 and Fig. 2, Fig. 1 is a schematic diagram of the structure composition of the present invention, and Fig. 2 is a schematic diagram of the movement principle of the present invention. The telescopic roller-type robot device takes the platform 1 as the center, the left and right parts are symmetrical in structure, and the left and right outer rollers move independently. Now take the right part as an example to illustrate this embodiment. The present invention consists of an outer drum 7, a platform 1, a drum rolling drive mechanism and an axial telescopic mechanism. Platform 1 is an internal asymmetrical cylinder, and its center of gravity is located below the axis of the drum. Platform 1 is a connecting piece between the left and right parts, and the power supply, controller, etc. are installed inside it. The bearings 18 are respectively in interference fit with the cylindrical outer surface of the platform 1 and the inner surface of the outer drum 7...
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The invention discloses an expansion drum robot, belonging to the mechanical technique. It provides a control device for controlling or regulating the system via non-electric quantity. And the inventive robot has the character of universal rolling with bigger drive force and the function of flexible axial length to overcome the groove. Said device comprises an outer roller, a platform, a roller rolling drive device and an axial flexible device. Wherein, the platform is mounted between two outer rollers and connected to them via rolling bearing, to realize the motion separation between them; the roller rolling drive device is connected to platform and outer roller to control the rotation of outer roller; and the axial flexible device is connection to the platform and outer roller to move the inner roller right and left along its axes to realize the axial expansion of said robot. The invention can apply the areas of detection, transmission, entertainment and military affairs.
Description
technical field [0001] The invention belongs to the technical field of machinery, and relates to a control device for two-dimensional walking of land and water vehicles in a non-electrical variable control or adjustment system, in particular to a retractable roller-type robot device, which can be used for detection, transportation , investigation, entertainment, military and other fields. Background technique [0002] The current rolling robots are almost all spherical robots. Although spherical robots have advantages such as zero-angle turning, but because the contact between them and the ground is point contact, the driving force is small and the wear is relatively large. Sensitive to interference and poor stability. And once the spherical robot runs into a pit-shaped obstacle with a sufficiently large radius, it cannot pass through, but can only go around by taking obstacle avoidance measures. At present, the contact between the ground and the drum-type rolling robot th...
Claims
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IPC IPC(8): B25J11/00
Inventor 李团结张学锋张琰
Owner XIDIAN UNIV