CN103407511B - The small-sized wheel-leg combined type in forest zone moves barrier getting over mechanism - Google Patents
The small-sized wheel-leg combined type in forest zone moves barrier getting over mechanism Download PDFInfo
- Publication number
- CN103407511B CN103407511B CN201310283190.8A CN201310283190A CN103407511B CN 103407511 B CN103407511 B CN 103407511B CN 201310283190 A CN201310283190 A CN 201310283190A CN 103407511 B CN103407511 B CN 103407511B
- Authority
- CN
- China
- Prior art keywords
- wheel
- leg
- floral disc
- disc
- arcuate leg
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Toys (AREA)
Abstract
The invention discloses the small-sized wheel-leg combined type in a kind of forest zone and move barrier getting over mechanism, this mechanism possesses good environmental suitability and obstacle climbing ability under the field natural environments such as forest zone. Six arcuate leg of this mechanism are connected with rotating disk by connecting rod, and utilize set bolt and inside and outside floral disc series winding. Rotating disk is embedded with wheel hub, and motor shaft is connected with wheel hub by flat key, to drive the normal rotation of wheel. Interior floral disc one side is with toothed disc, and the action opening and closing according to arcuate leg needs to fix or to depart from interior floral disc. This motion merges the advantage of wheeled mechanism and Tui Shi mechanism, and has the feature lightweight, volume is little, can be according to different orographic condition conversion motor patterns. Utilize wheel to realize high-speed remote from motion, utilize arcuate leg to improve its obstacle climbing ability and environmental suitability.
Description
Technical field
The present invention is moveable robot movement mechanism, belongs to Machine Design, Robotics and automatic field, can realize and movingThe different motor patterns such as mobile robot is wheeled, leg formula, and have lightweight, volume is little, the feature of compact conformation.
Background technology
At present, in mobile robot's motion, generally adopt wheeled, crawler type and Tui Shi mechanism, wheeled robot toolHave advantage simple in structure, that speed is high and energy consumption is low, but be not suitable for crossing over the obstacles such as forest zone stone, obstacle climbing ability is poor; Carry outThere are higher handling capacity and good environmental suitability in belt robot at soft, uneven terrain, but has frictional resistanceThe shortcoming large, energy consumption is very high; Legged mobile robot has higher mobility, easily adapts to various complicated ground environment, but rowWalk that efficiency is low, mechanism and control comparatively complicated. In recent years, many scholars have carried out the research that wheel is carried out composite structure, still, and oneAs volume and weight all larger.
Survey as using background taking forest zone integrated application, require robot to there is feature lightweight, that volume is little, energy consumption is low. ByIn forest zone working environment complexity, the unknown, changeable, so, require robot to there is high maneuverability and obstacle climbing ability.
Summary of the invention
The present invention proposes and a kind ofly can under the field natural environments such as forest zone, possess the small-sized of better environmental suitability and obstacle climbing abilityWheel-leg combined type motion. This motion merges the advantage of wheeled mechanism and Tui Shi mechanism, and has lightweight, volumeLittle feature, can be according to different orographic condition conversion motor patterns. Utilize wheel to realize high-speed remote from motion, utilize arcShape leg improves its obstacle climbing ability and environmental suitability.
Six arcuate leg of this mechanism are connected with rotating disk by connecting rod, and utilize set bolt and inside and outside floral disc series winding. In rotating diskBe embedded with wheel hub, motor shaft is connected with wheel hub by flat key, to drive the normal rotation of wheel. Interior floral disc one side has toothed disc,The action opening and closing according to arcuate leg needs to fix or to depart from interior floral disc. This mechanism characteristics is: arcuate leg can be closed with beatOpen, to adapt to the different landform road conditions in forest zone. In the time that arcuate leg (1) is not opened, connect the main shaft (6) of motor, by key (14)Connecting band runner hub (7) rotates, and wheel hub (7) connects by four wheel hub pins (11) with interior floral disc (4) and outer floral disc (5)Connect, inside and outside floral disc also rotates thereupon, and inside and outside floral disc is connected by 6 set bolts (12) with arcuate leg (1), therefore wholeIndividual closed wheel turns. In the time will opening arcuate leg (1), first stop the rotation of wheel, then start steering wheel, pass by gearMoving, driven gear dish (9) turns an angle, and toothed disc (9) is connected with rotating disk (8), and rotating disk (8) is also along with gearDish rotates same angle, and now interior floral disc (4) and outer floral disc (5) are motionless, and set bolt (12) is a fixed pivot,Rotating disk (8), connecting rod (3), arcuate leg (1) form linkage, and rotating disk (8) rotates and makes arcuate leg (1) open finger like thisFixed angle, the expansion that closed wheel changes leg formula wheel into has been moved. Driven by motor wheel turns afterwards, principle and arcuate leg are closedIdentical while closing. When rotation, the end of arcuate leg (1) contacts with ground, be subject to and the power of direction of rotation, and in arcuate legThe opposite direction active force that the pin (2) of side applies it, makes arcuate leg not because of stressed its opening angle that changes. Therefore, arcLeg can stable rotation under open mode, and can cross the barrier of certain altitude.
This composite mechanism, between its toothed disc (9) and interior floral disc (4), clutch structure design is as follows: arcuate leg (1) is being beatenOpen or closed process in, toothed disc and interior floral disc are in relative rotation, and wheel is in the process of moving, toothed disc and interior floral discRelatively static. In order to realize this structure and action request, we use electromagnetic clutch to realize interior floral disc and toothed discClutch. In the upper cylindrical projection (15) that exists of interior floral disc (4), there are 2 and interior floral disc cylindrical projection in toothed disc (9) inner side(15) cylindrical hole (16) matching, when opening or when closed arcuate leg, the electromagnetic force that electromagnetic clutch produces pulls gearCylindrical hole (16) on dish departs from and is connected with the cylindrical projection (15) on interior floral disc. After this when steering wheel driven gear dish rotates certainAngle time, it is fixing that interior floral disc keeps, to realize expansion or the closure of arcuate leg in the situation that wheel does not turn. Launch or closureAfter having moved, wheel will rotate and advance, and now interior floral disc (4) need to keep relative static, profit again with toothed disc (9)The electromagnetic force producing with electromagnetic clutch promotes toothed disc (9), makes the cylindrical projection (15) of interior floral disc (4) put in another of toothed discIn individual cylindrical hole (16), floral disc keeps relative static with toothed disc like this, and wheel is normally advanced.
Wheeled and motion advantage Tui Shi mechanism has been merged in mechanism of the present invention, and crawler type, wheeled construction compare, and has movementFast and the obstacle performance high of speed, can better adapt to the complex-terrains such as forest zone, monitors and scientific exploration at forest fireEtc. aspect have extremely important effect.
It is light small and exquisite that wheel-leg combined type moves barrier getting over mechanism, diverse in function, and flexibility is good, and distortion is simple, and structure is practical.The advantages such as in addition, it is made material and has and be simple and easy to get, and economy is high, and life cycle is long.
Brief description of the drawings
The closed figure of Fig. 1 motion;
Fig. 2 motion expanded view (showing toothed disc and interior floral disc);
Fig. 3 motion expanded view (showing outer floral disc);
Fig. 4 mechanism deploying state is along rotating disk profile;
Fig. 5 mechanism closure state is along rotating disk profile;
Fig. 6 toothed disc and interior floral disc detailed schematic.
Below the illustrating of every content in Figure of description:
1. outer floral disc 6. main shaft 7. wheel hub 8. rotating disks of the interior floral disc 5. of arcuate leg 2. lever 3. connecting rod 4.9. toothed disc 10. gears connect slide bar 11. wheel hub pin 12. set bolt 13. connecting-rod bolts 14. flat key 15. cylindersProjection 16. cylindrical holes
Detailed description of the invention
The arcuate leg of this motion can be closed with open, to adapt to different road conditions. When arcuate leg is closed, as Fig. 1, be applicable toIn more smooth road surface walking, speed is fast and steady, and when arcuate leg is launched, as Fig. 2, Fig. 3, obstacle climbing ability is strong.
In the time that arcuate leg (1) is not opened, connect the main shaft (6) of motor, rotate by key (14) connecting band runner hub (7),Wheel hub (7) is connected by four wheel hub pins (11) with interior floral disc (4) and outer floral disc (5), and inside and outside floral disc also rotates thereupon,Inside and outside floral disc is connected by 6 set bolts (12) with arcuate leg (1), so whole closed wheel turns.
In the time will opening arcuate leg (1), first stop the rotation of wheel, then start steering wheel, by gear drive, driven gearDish (9) turns an angle, and toothed disc (9) is connected with rotating disk (8), and rotating disk (8) is also along with toothed disc rotates sameAngle, now interior floral disc (4) and outer floral disc (5) are motionless, and set bolt (12) is a fixed pivot, rotating disk (8), companyBar (3), arcuate leg (1) form linkage, and rotating disk (8) rotates and makes arcuate leg (1) open the angle of appointment like this, closesClosing the expansion that wheel changes leg formula wheel into has moved. Driven by motor wheel turns afterwards, principle is identical when closed with arcuate leg. TurnWhen moving, the end of arcuate leg (1) contacts with ground, be subject to and the power of direction of rotation, and pin (2) inside arcuate legThe opposite direction active force that it is applied, makes arcuate leg not because of stressed its opening angle that changes. Therefore, arcuate leg is in open modeUnder can stable rotation, and can cross the barrier of certain altitude. The diameter of its obstacle climbing ability and wheeled construction and arcuate legNumber relevant.
Claims (3)
1. the small-sized wheel-leg combined type in forest zone moves a barrier getting over mechanism, it is characterized in that: six arcuate leg are by connectingBar is connected with rotating disk, and utilizes set bolt and inside and outside floral disc series winding; Rotating disk is embedded with wheel hub, motor shaftBe connected with wheel hub by flat key, to drive the normal rotation of wheel; Interior floral disc one side has toothed disc, according toThe action that arcuate leg opens and closes needs to fix or to depart from interior floral disc; Arcuate leg can be closed with open, to fitAnswer the different landform road conditions in forest zone; In the time that arcuate leg (1) is not opened, connect the main shaft (6) of motor, pass throughKey (14) connecting band runner hub (7) rotates, and wheel hub (7) is logical with interior floral disc (4) and outer floral disc (5)Cross four wheel hub pins (11) and connect, inside and outside floral disc also rotates thereupon, inside and outside floral disc and arcuate leg (1)Connect by 6 set bolts (12), so whole closed wheel turns; When opening arcuate leg (1)Time, first stop the rotation of wheel, then start steering wheel, by gear drive, driven gear dish (9) rotatesCertain angle, toothed disc (9) is connected with rotating disk (8), and rotating disk (8) is also along with toothed disc rotates sameAngle, now interior floral disc (4) and outer floral disc (5) are motionless, and set bolt (12) is a fixed pivot,Rotating disk (8), connecting rod (3), arcuate leg (1) form linkage, and rotating disk (8) rotates and makes arc like thisLeg (1) opens the angle of appointment, and closed wheel becomes the expansion of leg formula wheel and moved; Driven by motor wheel afterwardsRotate, principle is identical when closed with arcuate leg; When rotation, the end of arcuate leg (1) contacts with ground, is subject toTo with the power of direction of rotation, and the opposite direction active force that the lever (2) of arcuate leg inner side applies it,Make arcuate leg not because of stressed its opening angle that changes; Therefore, arcuate leg can be stablized and turn under open modeMove, and can cross the barrier of certain altitude; The diameter of its obstacle climbing ability and wheeled construction and arcuate legNumber relevant.
2. the small-sized wheel-leg combined type in forest zone as claimed in claim 1 moves barrier getting over mechanism, its toothed disc (9)And interior floral disc has adopted clutch structure between (4), it is characterized in that: arcuate leg (1) is being opened or closureProcess in, toothed disc and interior floral disc relatively rotate; And wheel is in the process of moving, toothed disc and interior floral discRelatively static; In order to realize this structure and action request, use electromagnetic clutch realize interior floral disc withThe clutch of toothed disc; In the upper cylindrical projection (15) that exists of interior floral disc (4), toothed disc (9) inner side has2 cylindrical holes (16) that match with interior floral disc cylindrical projection (15), when opening or when closed arcuate leg,The electromagnetic force that electromagnetic clutch produces pulls toothed disc, the cylinder on the cylindrical hole (16) on it and interior floral discProjection (15) departs from and connects; After this in the time that steering wheel driven gear dish rotates certain angle, interior floral disc keepsFixing, to realize expansion or the closure of arcuate leg in the situation that wheel does not turn; Expansion or closed action completeAfter, wheel turns is advanced, and now interior floral disc (4) need keep relative static, profit again with toothed disc (9)The electromagnetic force producing with electromagnetic clutch promotes toothed disc (9), makes the cylindrical projection (15) of interior floral disc (4)Put in another cylindrical hole (16) of toothed disc, floral disc keeps relative static with toothed disc like this, wheelSon is normally advanced.
3. the small-sized wheel-leg combined type in forest zone as claimed in claim 1 moves barrier getting over mechanism, it is characterized in that:There is wheeled rapid movement, leg formula Obstacle Negotiation multi-motion modes; Utilize two leg formula wheel closures to land, canTo realize the motion requirement of robot head's distance; The joint angle that launches leg by control can be realized robot and existObstacle Negotiation under complicated environmental condition; By launching leg formula and closed wheeled compound motion, realize forest zoneIntegrated application under environment is surveyed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310283190.8A CN103407511B (en) | 2013-07-08 | 2013-07-08 | The small-sized wheel-leg combined type in forest zone moves barrier getting over mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310283190.8A CN103407511B (en) | 2013-07-08 | 2013-07-08 | The small-sized wheel-leg combined type in forest zone moves barrier getting over mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103407511A CN103407511A (en) | 2013-11-27 |
| CN103407511B true CN103407511B (en) | 2016-05-18 |
Family
ID=49600575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310283190.8A Active CN103407511B (en) | 2013-07-08 | 2013-07-08 | The small-sized wheel-leg combined type in forest zone moves barrier getting over mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103407511B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104210571B (en) * | 2014-09-10 | 2016-10-12 | 宁德市天启机器人科技有限公司 | A kind of wheeled lower limb running gear with independent ambulation and cross-country function |
| CN104960379B (en) * | 2015-05-25 | 2017-11-10 | 上海交通大学 | Three mode deformation wheels |
| CN107891923A (en) * | 2017-12-26 | 2018-04-10 | 福建农林大学 | All-terrain vehicle wheel, rescue aid and method of work using the wheel |
| CN108032921B (en) * | 2018-01-25 | 2024-03-15 | 天津职业技术师范大学 | Wheel device capable of crossing obstacle and vehicle type robot with wheel device |
| CN109774810B (en) * | 2019-01-21 | 2023-09-29 | 浙江理工大学 | Wheel leg conversion device based on electromagnetic control and space reverse cam |
| CN109878592B (en) * | 2019-04-15 | 2020-12-15 | 北京建筑大学 | Wheel-leg composite walking device |
| CN114275071B (en) * | 2021-12-24 | 2022-09-20 | 北方工业大学 | Novel deformable wheel-leg robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0632263A (en) * | 1992-07-15 | 1994-02-08 | Tomita Denki Seisakusho:Kk | Legged moving vehicle |
| CN101525010A (en) * | 2009-03-24 | 2009-09-09 | 同济大学 | Wheel-claw type wet-absorbing wall-climbing Robert wheel claw capable of being recombined |
| US7836983B2 (en) * | 2004-10-01 | 2010-11-23 | Applied Minds, Inc. | Bimodal conveyance mechanism |
| CN102295029A (en) * | 2011-06-13 | 2011-12-28 | 北京航空航天大学 | Adaptive wheel-leg combined obstacle detouring mechanism |
| CN203439167U (en) * | 2013-07-08 | 2014-02-19 | 北京林业大学 | Forest region small wheel and leg combined type mobile obstacle crossing mechanism |
-
2013
- 2013-07-08 CN CN201310283190.8A patent/CN103407511B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0632263A (en) * | 1992-07-15 | 1994-02-08 | Tomita Denki Seisakusho:Kk | Legged moving vehicle |
| US7836983B2 (en) * | 2004-10-01 | 2010-11-23 | Applied Minds, Inc. | Bimodal conveyance mechanism |
| CN101525010A (en) * | 2009-03-24 | 2009-09-09 | 同济大学 | Wheel-claw type wet-absorbing wall-climbing Robert wheel claw capable of being recombined |
| CN102295029A (en) * | 2011-06-13 | 2011-12-28 | 北京航空航天大学 | Adaptive wheel-leg combined obstacle detouring mechanism |
| CN203439167U (en) * | 2013-07-08 | 2014-02-19 | 北京林业大学 | Forest region small wheel and leg combined type mobile obstacle crossing mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103407511A (en) | 2013-11-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103407511B (en) | The small-sized wheel-leg combined type in forest zone moves barrier getting over mechanism | |
| CN101570216B (en) | Minitype wheel/caterpillar structure-variable mobile-search reconnaissance robot | |
| CN105667622A (en) | Six-wheel-foot type moving robot with three robot bodies | |
| CN112297731B (en) | Self-adaptive wheel leg, robot with self-adaptive wheel leg and motion method of robot | |
| CN203439167U (en) | Forest region small wheel and leg combined type mobile obstacle crossing mechanism | |
| CN100354171C (en) | Dangerous operation robot with wheel-leg-caterpillar track composite moving mechanism | |
| CN102490884A (en) | Ray-imitating robot body structure with underwater three-dimensional athletic ability | |
| CN204488926U (en) | Diagonal angle differential steering four-wheeled | |
| CN113443042B (en) | Wheel-foot combined type biped robot | |
| CN102975782A (en) | Wheel foot amphibious robot mechanism based on differential wheel eccentric mechanism | |
| CN201405350Y (en) | Moving searching reconnaissance robot with mini-wheel/crawler-changing structure | |
| CN104709369A (en) | Planetary differential obstacle-crossing type tracked robot | |
| CN104691611A (en) | Diagonal differential steering four-wheeler and control method | |
| CN106945848B (en) | A kind of solar wing spreading linkage | |
| CN202038112U (en) | Variable foot wheel structure of amphibious robot | |
| CN205327442U (en) | Large tracts of land can be opened up solar energy and turned over board | |
| CN103010327B (en) | Single-motor driven climbing jumping robot | |
| CN104648504B (en) | A kind of bionical amphibious robot spring wheel foot crawling device | |
| CN102825973A (en) | Ball spacing type repeated folding-unfolding wheel locking and unlocking mechanism | |
| CN204488996U (en) | Planetary differential obstacle crossing type caterpillar robot | |
| CN107310648A (en) | A kind of achievable wheel, the fighter toy for carrying out replacement | |
| CN104742995B (en) | The modular leg unit of polypody mobile robot | |
| CN202782474U (en) | Ball limiting type repeated folding and unfolding wheel locking and unlocking mechanism | |
| CN102587436A (en) | Expansion and excavation device imitated from bone space of flying snake | |
| CN109941431A (en) | Can bounce the aircraft for taking off and gliding and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |