CN100567067C - A kind of mechanical running mechanism - Google Patents
A kind of mechanical running mechanism Download PDFInfo
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- CN100567067C CN100567067C CNB2007100476520A CN200710047652A CN100567067C CN 100567067 C CN100567067 C CN 100567067C CN B2007100476520 A CNB2007100476520 A CN B2007100476520A CN 200710047652 A CN200710047652 A CN 200710047652A CN 100567067 C CN100567067 C CN 100567067C
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Abstract
The invention discloses a kind of mechanical running mechanism, relate to vehicle and Robotics field.For not possessing, the vehicle that overcomes prior art or robot do not adjust or the defective of controlling level attitude function, solve the problem of existing machinery traveling gear obstacle climbing ability difference, the present invention proposes following technical scheme: a kind of mechanical running mechanism, comprise body (1), support adjusting mechanism, control circuit, crawler belt foot (3) and axis of revolution (13) thereof, it is characterized in that: described support adjusting mechanism mainly comprises: balance sensor (8), motor, the supporting base (2) of slide block (15), long connecting rod (5), short connecting rod (6), ball screw (7), detection vertical equity degree.The invention has the beneficial effects as follows: good obstacle climbing ability is not only arranged, and in level road walking, climbing, up/down steps and obstacle detouring, remain body and have the good horizontal degree.
Description
Technical field
The present invention relates to vehicle and Robotics field, particularly relate to a kind of mechanical running mechanism.
Background technology
In the running gear of existing vehicle or robot, most widely used is wheeled and two kinds of structures of crawler type.Wherein track structure comprises various ways such as two crawler belts, multi-track, joint crawler belt and crawler belt leg, though they have the advantage that the landform comformability is strong, adhesion value good, tractive force is big, but, common wheeled and crawler type walking mechanism is a fixed sturcture, even if attached motorless suspension gear, they do not possess autonomous adjustment orientation capability yet.Here the adjustment attitude of being said mainly is meant: adjust the body flat-hand position and the state of vehicle or robot load larrying member, promptly adjust or control the pitch angle degree of body, purpose is to allow body keep levelness preferably.
Vehicle or robot are in the process of walking, if the driving surface of body bearing load can not keep the good horizontal degree, then cargo-carring object or person person such as may be subjected to displacement, roll, overturn, drop at accident.Therefore, for vehicle or robot, people usually to the flat-hand position and the state of agent structure, claim, and wish that agent structure can keep or roughly remain flat-hand position and state in the process of walking; In particular cases, can also be posture and the state that keeps special angle.
In the prior art, the traveling gear of vehicle or robot and so on, its obstacle climbing ability is limited, and the stationarity in the obstacle detouring process is not good, can only adapt to the mono-environment, has limited its field of application.The U.S. once developed a kind of " rocker-bogie " structure, was widely used in six-wheeled vehicle or robot, had improved the obstacle climbing ability of six wheel robots.But the body attitude can't independently be adjusted or accurately control to this structure, and this structure is also incompatible to be used in crawler belt or crawler belt foot structure.
Summary of the invention
Do not adjust or the defective of controlling level attitude function, solve the problem of obstacle climbing ability difference for the vehicle that overcomes prior art or robot do not possess, simultaneously, provide a kind of mechanical running mechanism that can keep horizontal attitude to society, the present invention proposes following technical scheme.
1, a kind of mechanical running mechanism comprises body, support adjusting mechanism, control circuit, crawler belt foot and axis of revolution thereof;
Described support adjusting mechanism mainly comprises: balance sensor, motor, the supporting base of slide block, long connecting rod, short connecting rod, ball screw, detection vertical equity degree;
The upper end of long connecting rod is rotated with slide block and is connected; The middle part of long connecting rod is rotated with the lower end of short connecting rod and is connected, and the upper end of short connecting rod is rotated with body and connected; Axis of revolution on the lower end of long connecting rod and the crawler belt foot connects;
Slide block moves with the ball screw rotation and connects; The position, two ends of ball screw is rotated with two supporting bases respectively and is connected; Supporting base and body are fixedly connected;
The output shaft driving coupling of ball screw and motor; Motor and body are fixedly connected; The terminals of motor link to each other with control circuit by electric wire;
Balance sensor and body are fixedly connected, and the terminals of balance sensor link to each other with control circuit by electric wire;
Described mechanical running mechanism has two cover support adjusting mechanisms, by vertical arrangement, be symmetrical arranged; In every cover support adjusting mechanism: long connecting rod and short connecting rod have two.
2. described support adjusting mechanism is X-shaped between two long connecting rods and is staggered front to back, and its upper end connects with the slide block rotation, the lower end is fixedly connected or rotates with axis of revolution and connects.
3. in the described support adjusting mechanism, the upper end of two long connecting rods and slide block, the three forms at same center of rotation place to rotate and connects, and the lower end of long connecting rod is fixedly connected or rotates with axis of revolution and connects.
4. described support adjusting mechanism, the upper end of front side long connecting rod rotate with the position, front side of slide block and connect, and the upper end of rear side long connecting rod is rotated with the rear side position of slide block and connected; The lower end of long connecting rod is fixedly connected or rotates with axis of revolution and connects.
5. described motor has two; The terminals of each motor have dedicated wires to link to each other separately with control circuit.
6. described balance sensor has two.
7. the output shaft driving coupling of described ball screw and motor is meant belt or strap drive connection synchronously, is meant that perhaps gear transmission connects, and is meant that perhaps chain-driving connects.
8. in described support adjusting mechanism, first distance, second distance and the 3rd distance, three's distance equates;
Described first distance is meant: the distance between the rotation point of attachment of short connecting rod two ends; Described second distance is meant: the lower end rotation point of attachment of long connecting rod rotates the distance between the point of attachment to the middle part; Described the 3rd distance is meant: the middle part rotation point of attachment of long connecting rod rotates the distance between the point of attachment to the upper end.
9. in described support adjusting mechanism, the upper end of long connecting rod is rotated the upper end of point of attachment and short connecting rod and is rotated point of attachment, is located on the same line;
In described support adjusting mechanism, the rotation point of attachment of rotation point of attachment, short connecting rod and the body of long connecting rod lower end and axis of revolution connects these two and rotates the formed line of point of attachment, and is vertical mutually with above-mentioned straight line.
10. described crawler belt foot mainly comprises crawler belt foot support, crawler belt, axis of revolution, tension wheel, driving wheel, imput shaft and movable motor;
Axis of revolution between driving wheel and tension wheel, axis of revolution also rotate to connect with the crawler belt foot support; Movable motor and crawler belt foot support are fixedly connected; Imput shaft respectively with the driving wheel key connecting, rotate with the crawler belt foot support connects, with the output shaft driving coupling of movable motor, described driving coupling be meant belt or synchronously strap drive connect or be meant the gear transmission connection; Tension wheel rotates with the crawler belt foot support and connects; The crawler belt hanging sleeve is on driving wheel and tension wheel;
Each movable motor uses independent electric wire to link to each other with control circuit.
11. described axis of revolution, its axle center are positioned at the midperpendicalar downside of driving wheel and tension wheel axle center line, the axle center that constitutes with axis of revolution is the handstand equicrural triangle on summit.
12. described axis of revolution, its axle center are positioned at the downside of driving wheel and tension wheel axle center line, the axle center that constitutes with axis of revolution is the handstand triangle on summit.
13. described crawler belt foot also includes contact pickup; Each crawler belt foot has two contact pickups, is fixedly connected respectively in the inboard and the outside of crawler belt support; Each contact pickup links to each other with control circuit by independent circuit.
The invention has the beneficial effects as follows: the mechanical running mechanism of invention, good obstacle climbing ability is not only arranged, and can be according to surrounding terrain, from main regulation and control body horizontal attitude, make vehicle or robot, in level road walking, climbing, up/down steps and obstacle detouring, remain body and have the good horizontal degree.
Description of drawings
Fig. 1 is the schematic perspective view of the mechanical running mechanism in the specific embodiment.
Fig. 2 is the scheme drawing of mechanical running mechanism when level road is walked.
Fig. 3 is the view that mechanical running mechanism goes up a slope when walking, supposes not carry out the attitude adjustment.
Fig. 4 is the view that mechanical running mechanism goes up a slope when walking, carried out the attitude adjustment.
Fig. 5 is mechanical running mechanism descending when walking, has carried out the view that attitude is adjusted.
Fig. 6 is the crawler belt foot scheme drawing among the embodiment one.
Fig. 7 is the axis of revolution position view among the embodiment one.
Fig. 8 is the crawler belt foot scheme drawing that contact pickup is housed among the embodiment two.
Fig. 9 is one of mechanical running mechanism obstacle detouring scheme drawing among the embodiment three.
Figure 10 be among the embodiment three mechanical running mechanism obstacle detouring scheme drawing two.
Figure 11 is one of scheme drawing of the long connecting rod space connection among the embodiment four.
Figure 12 is two of the scheme drawing that connects of the long connecting rod space among the embodiment four.
Figure 13 is short connecting rod, the long connecting rod size relationship scheme drawing among the embodiment five.
Figure 14 is the scheme drawing of a plurality of rotation point of attachments position relation among the embodiment six.
Label declaration
1---body 2---supporting base 3---crawler belt foot
4---contact pickup 5---long connecting rod 6---short connecting rod
7---ball screw 8---balance sensor 9---motor
10---crawler belt 11---tension wheel 12---driving wheel
13---axis of revolution 14---crawler belt foot support 15---slide block
Below in conjunction with the drawings and specific embodiments the present invention is explained in detail.
The specific embodiment
Mechanical running mechanism of the present invention comprises body 1, support adjusting mechanism, control circuit, crawler belt foot 3 and axis of revolution 13 thereof.The core component of control circuit, can adopt smart circuit parts such as CPU, rely on the program that is provided with by technical personnel in advance, control circuit not only can be collected information, can also analyze and process information, further, can also send action command to execution units such as motors, commander's mechanical running mechanism moves ahead.
The support adjusting mechanism mainly comprises: slide block 15, long connecting rod 5, short connecting rod 6, ball screw 7, balance sensor 8, motor 9, supporting base 2.
Slide block among the present invention, screw structure, employing be the ball screw form of rolling screw transmission, it mainly is made up of ball screw, ball nut (slide block) and ball.The advantage of this type of drive is: moment of starting is little, friction drag is little, driving efficiency is high, precision easily guarantees, sensitive, steady, it is reversible to move, and no self-locking performance has higher axial stiffness.
The position, two ends of ball screw 7 is rotated with two supporting bases 2 respectively and is connected; Supporting base 2 is fixedly connected with body 1.The effect of supporting base 2 is, not only the locus of ball screw 7 in mechanical running mechanism fixed, but also allow under the drive of external force, ball screw 7 rotates around self axle center.
The upper end of long connecting rod 5 is rotated with slide block 15 and is connected; The middle part of long connecting rod 5 is rotated with the lower end of short connecting rod 6 and is connected, and the upper end of short connecting rod 6 is rotated with body 1 and connected; If rotations such as the extension block of the upper end of short connecting rod 6 and body 1, contiguous block connect, also be fine, technical scheme is not constituted substantial influence.Same, the axis of revolution 13 on the lower end of long connecting rod 5 and the crawler belt foot 3 can be fixedly connected, also can rotate connection, and the essence of its technical scheme is the same with principle.
Two cover support adjusting mechanisms are arranged, by vertical arrangement, be symmetrical arranged in the described mechanical running mechanism; In every cover support adjusting mechanism: long connecting rod 5 and short connecting rod 6 have two.
The present invention also has following alternative technology scheme.
1. in same set of support adjusting mechanism, have to be X-shaped between two long connecting rods 5 of the arrangement of three kinds of long connecting rods: a. and to be staggered front to back, its upper end connects with slide block 15 rotations, the lower end is fixedly connected or rotates with axis of revolution 13 and connects; B. the upper end 5 of two long connecting rods and slide block 15, the three forms at same center of rotation place to rotate and connects, and the lower end of long connecting rod 5 is fixedly connected or rotates with axis of revolution 13 and connects; C. the upper end of front side long connecting rod 5 is rotated with the position, front side of slide block 15 and is connected, and the upper end of rear side long connecting rod 5 is rotated with the rear side position of slide block 15 and connected, and the lower end of long connecting rod 5 is fixedly connected or rotates with axis of revolution 13 and connects.
2. use two motors 9, the terminals of each motor 9 link to each other with control circuit with dedicated wires, can reach the purpose that motor 9 is independently regulated like this.In order to detect the mechanical running mechanism horizontal situation on plane up, can use two or more balance sensor 8, so, not only can hold better to the levelness of mechanical running mechanism on the whole, and can shift to an earlier date or preventative the adjustment.
3. the output shaft driving coupling of ball screw 7 and motor 9 can be to carry out driving coupling with belt or synchronous band; Also can be with two or the connection of a plurality of gear transmission.
4. robot running gear according to claim 10 is characterized in that: described axis of revolution 13, its axle center are positioned at the midperpendicalar downside of driving wheel 12 and tension wheel 11 axial connecting lines, and the axle center that constitutes with axis of revolution 13 is the handstand equicrural triangle on summit; Described contact pickup 4 is two, is fixedly connected respectively in the inboard and the outside of crawler belt foot support 14.
Below, describe in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 again.
For convenience of description and understand, at first in conjunction with the three-dimensional coordinate that draws among Fig. 1, the direction in space is made stipulations.In file of the present invention, X-axis is the longitudinal axis, before the direction of arrow is, after reversing sense is; Y-axis is a transverse axis, in the direction of arrow is, outside reversing sense is; The Z axle direction of arrow is last, reversing sense for down.Draw a kind of block diagram of mechanical running mechanism of concrete style among Fig. 1, can be used for helping to understand the present invention.
In order more clearly to express and understand this mechanical running mechanism, when drawing, imagination is roughly by y direction, dissect mechanical running mechanism, and it is cutd open is that two parts are drawn; Need to prove that the size of two parts is not wait.
Mark among Fig. 1 to Fig. 5 is described as follows.The 1st, body, the 2nd, bearing support, the 3rd, crawler belt foot, the 5th, long connecting rod, the 6th, short connecting rod, the 7th, ball screw, the 8th, balance sensor, the 9th, motor, the 13rd, axis of revolution, the 15th, slide block.
The mechanical running mechanism that Fig. 1 is drawn has inside and outside two cover action adjusting mechanisms, can adjust the flat-hand position of mechanical running mechanism or state (annotate: the part parts of the outside one cover action adjusting mechanism do not draw, and have been sheltered from by body as motor etc.) simultaneously in the same way.
If the road of walking is smooth, the ground-surface levelness is good, and mechanical running mechanism relies on four crawler belts foots to travel forward, and body is on direction longitudinally, and front and back are rendered as the good horizontal degree, as shown in Figure 2.At this moment, be loaded in the object or person person on the body, problem may not take place.
But, when walking, can't not adjust if do not adjust maybe in the moment of domatic road or leaping over obstacles, the phenomenon of serious preceding high back low (or low early and high after) will appear; Shown in Figure 3 is certain low particular case of preceding high back.If loaded object or person person on the body, unfavorable condition or contingency such as then tend to be subjected to displacement, roll, overturn, drop.In the mechanical running mechanism of prior art, owing to can not carry out the adjustment of horizontal attitude, so above-mentioned displacement, unfavorable condition such as roll, overturn, drop or contingency all is difficult to avoid.Yet the present invention can overcome this type of defective.
In mechanical running mechanism of the present invention, balance sensor 8 can be with the signal of detected levelness, be the whether relevant informations on same horizon of body 1 front and back, give control circuit, control circuit by analysis, think and to carry out that levelness adjusts, just send and rotate order to motor 9, promptly carry the electric energy that rotates to motor 9, drive through transmission device, ball screw 7 produces rotation, driving sliding block 15 moves forward or backward, connecting rod 5 and 6 movement therewith, the height of crawler belt foot 3 changes before and after causing, and reaches body 1 front and back at last and keeps same level.
Such as, walking is on acclivity, balance sensor 8 can be given control circuit with detected signal, control circuit order motor 9 rotates, and drive, the ball screw 7 through transmission device produces rotation again, and slide block 15 moves backward, connecting rod 5 and 6 moves thereupon, make that fwd crawler belt foot 3 is raised, the crawler belt foot 3 of back reduces, reach body 1 front and back at last and keep same level height, as shown in Figure 4.More than be the situation of walking when making progress domatic road, if become walking at downward domatic road, then the principle of Tiao Zhenging is basic with above identical with process, different is, motor 9 backward rotation, and slide block 15 moves forward, connecting rod 5 and 6 movement therewith, fwd crawler belt foot 3 reduces, the crawler belt foot 3 of back is raised, and reaches body 1 front and back at last and keeps same level height, as shown in Figure 5.
The vehicle, field machine, military-designed vehicle, use that the present invention is particularly suitable for doing earthwork on coarse uneven ground vehicle and need the robot ambulation carrier of obstacle negotiation.
Embodiment one
Describe in conjunction with Fig. 6, Fig. 7.The situation of present embodiment explanation crawler belt foot 3.
Earlier the label among the figure is described: the 10th, crawler belt, the 11st, tension wheel, the 12nd, driving wheel, the 13rd, axis of revolution, the 14th, crawler belt foot support.
The crawler belt foot 3 of present embodiment, movable motor (not drawing among the figure) is fixedly connected with crawler belt foot support 14, and the turning cylinder on the driving wheel 12 rotates with crawler belt foot support 14 and connects; The output shaft of movable motor and turning cylinder driving coupling, turning cylinder and driving wheel 12 key connecting; Tension wheel 11 rotates with crawler belt foot support 14 and connects; The crawler belt hanging sleeve is on driving wheel 12 and tension wheel.
Control circuit can be ordered crawler belt sufficient 3 to advance or be retreated, and its process is: control circuit output drives electric energy and rotates → rotated by connecting gear transmission kinetic energy → driving wheel rotation → crawler belt and tension wheel for movable motor → movable motor; Thereby crawler belt foot 3 actions.Wherein, the movable motor rotation direction is a forward or reverse, just can determine moving ahead or retreating of crawler belt foot 3.
Each movable motor uses independent circuit to link to each other with control circuit, and the purpose of this technical scheme is to make each crawler belt foot 3 can single movement.At synchronization, can make different actions such as four crawler belt foots, the crawler belt foot 3 that the crawler belt foot 3 that the crawler belt foot 3 that has can go ahead, have can be walked backward, have can be as you were; Can also be: the crawler belt foot 3 that the crawler belt foot 3 that has can hurry up, have can be careful.Thus, carry out different combination of actions, just can produce the action effect of various globalities, as the mechanical running mechanism general performance be: hurry up forward, be careful forward, hurry up backward, be careful backward, great circle arc turns round (inside and outside crawler belt foot 3 speed of travel differences but difference is little), little circular arc turns round (inside and outside crawler belt foot 3 speed of travel difference are big), pivot turn (in the inside and outside crawler belt foot 3, crawler belt foot 3 walkings of a side, the 3 motionless or reversing sense walkings of the crawler belt foot of opposite side).
In addition, in the present embodiment, axis of revolution 13, driving wheel 12 and tension wheel 11 threes have special structural relation.
In the present embodiment, axis of revolution 13, its axle center is positioned at the midperpendicalar downside of driving wheel 12 and tension wheel 11 axial connecting lines, and the axle center that constitutes with axis of revolution 13 is the handstand equicrural triangle on summit; As shown in Figure 7.
Just say: its constructional feature is: in crawler belt foot 3, the axial location of axis of revolution 13 is lower than the line of driving wheel 12 axis and tension wheel 11 axis.
The power of movable motor output is delivered to crawler belt 10 through transmission device etc., and crawler belt 10 is rotated, and drives the traveling gear walking.Put because rotation axis is low, when running into obstacle, will produce one to the ramped surfaces upwards rotation of upper bottom portion along obstacle, if vertical shape obstacle, the capsizing moment that makes progress can make crawler belt foot 3 bottoms along make progress rotating certain angle even rotate 90 ° of angles and along the upwards climbing of vertical barrier of vertical barrier.This walking mechanism can independently the ascend principle of obstacle that Here it is.
Embodiment two
Describe in conjunction with Fig. 6, Fig. 8.
Earlier the label among the figure is described: the 4th, contact pickup, the 10th, crawler belt, the 11st, tension wheel, the 12nd, driving wheel, the 13rd, axis of revolution, the 14th, crawler belt foot support.
In the present embodiment, the contact pickup 4 on each crawler belt foot 3 is two, is fixedly connected respectively in the inboard and the outside of crawler belt support 14; Each contact pickup 4 links to each other with control circuit by independent circuit.
Contact pickup 4 send control circuit in order to detect crawler belt foot 3 with ground-surface contact condition and with detection signal.
Every crawler belt foot 3 is an individual drive, in the walking process, no matter which kind of incipient state the support adjusting mechanism is in, in case one of them contact lever of crawler belt foot 3 inside and outside contact both sides sensors 4 breaks away from ground, all will send signal, can cause motor 9 to drive thereupon that ball screw 7 rotates, slide block 15 moves forwards or backwards accordingly at last, long connecting rod 5, short connecting rod 6 swings are until crawler belt 3 ground of keeping in touch enough.
Talk about above, when crawler belt foot 3 breaks away from ground, when just the contact lever in the contact pickup 4 breaks away from ground, can send a signal to control circuit.Then, whether send action command by the control circuit decision again to motor 9 grades.Otherwise, if crawler belt foot 3 is original break away from ground-surface, become kiss the earth afterwards, just the contact lever kiss the earth in the contact pickup 4 also can send a signal to control circuit, whether sends action command to motor 9 grades by the control circuit decision again.
Embodiment three
Describe in conjunction with Fig. 6, Fig. 8, Fig. 9 and Figure 10.
Earlier the label among the figure is described: the 1st, body, the 2nd, supporting base, the 3rd, crawler belt foot, the 4th, contact pickup, the 5th, long connecting rod, the 6th, short connecting rod, the 7th, ball screw, the 8th, balance sensor, the 9th, motor, the 10th, crawler belt, the 11st, tension wheel, the 12nd, driving wheel, the 13rd, axis of revolution, the 14th, crawler belt foot support, the 15th, slide block.
This mechanical running mechanism can independently be climbed the vertical obstacle that is higher than the Athey wheel diameter.In motion process, body 1 front side crawler belt 10 front ends are run into vertical obstacle wall, at this moment, cover the crawler belt 10 of driving wheel 12 and tension wheel 11 outside faces, do clockwise rotating of approximate ellipsoidal, under the thrust of wall to the friction force of crawler belt 10 and rear side crawler belt foot 3, the head end of front side crawler belt foot 3 upwarps, along climbing on the straight wall, climb vertical obstacle surface up until preceding crawler belt foot 3, in this process, balance sensor 8 comes out the change-detection of body levelness and constantly gives control circuit, control circuit is constantly ordered the support adjusting mechanism again, thereby reaches dynamically: should adjust the height of crawler belt foot 3, make body 1 keep horizontal attitude again in certain levelness scope.
When current crawler belt foot 3 had jumped onto vertical obstacle towards upper surface, then back crawler belt foot 3 needed climbing.The principle and the process of climbing, basic identical with the above-mentioned climbing situation of preceding crawler belt foot 3, special feature is: though back thrust no longer exists because preceding crawler belt foot 3 has contacted closely with the obstacle upper surface, can produce bigger tractive force, help back crawler belt foot 3 clear an obstacles.
Embodiment four
Describe in conjunction with Fig. 2, Figure 11 and Figure 12.
Earlier the label among the figure is described: the 1st, body, the 2nd, supporting base, the 3rd, crawler belt foot, the 5th, long connecting rod, the 6th, short connecting rod, the 7th, ball screw, the 8th, balance sensor, the 13rd, axis of revolution, the 15th, slide block.
The present embodiment explanation, in the support adjusting mechanism of the same side, the explanation of several spatial destribution situations of long connecting rod 5.
First kind of situation: be X-shaped between two long connecting rods 5 and be staggered front to back, its upper end connects with slide block 15 rotations, the lower end is fixedly connected or rotates with axis of revolution 13 and connects, as shown in Figure 2.
Second kind of situation: the upper end of two long connecting rods 5 and slide block 15, the three forms at same center of rotation place to rotate and connects, and the lower end of long connecting rod 5 is fixedly connected or rotates with axis of revolution 13 and connects, as shown in figure 12.
The third situation: the upper end of front side long connecting rod 5 is rotated with the position, front side of slide block 15 and is connected, and the upper end of rear side long connecting rod 5 is rotated with the rear side position of slide block 15 and connected, and the lower end of long connecting rod 5 is fixedly connected or rotates with axis of revolution 13 and connects, as shown in figure 11.
Embodiment five
Describe in conjunction with Figure 13.
Earlier the label among the figure is described: the 1st, body, the 2nd, supporting base, the 3rd, crawler belt foot, the 5th, long connecting rod, the 6th, short connecting rod, the 7th, ball screw, the 9th, motor, the 13rd, axis of revolution, the 14th, crawler belt foot support, the 15th, slide block.
Present embodiment is a kind of alternative technology scheme.In the present embodiment, have special size relationship between short connecting rod 6 and the long connecting rod 5, that is: the distance of respectively rotating between the point of attachment on short connecting rod 6 and the long connecting rod 5 is: first distance, second distance and the 3rd distance, three's distance equates.
First distance is meant: the distance between the rotation point of attachment of short connecting rod 6 two ends; Described second distance is meant: the distance between point of attachment and the middle part rotation point of attachment is rotated in the lower end of long connecting rod 5; Described the 3rd distance is meant: the distance between point of attachment and the upper end rotation point of attachment is rotated at the middle part of long connecting rod 5.
L1 among the figure is that first distance, L2 are that second distance, L3 are the 3rd distances.In the present embodiment, size relationship is: L1=L2=L3.
Adopt three segment distances isometric, can guarantee that front and back change a position phase in the adjustment process, help control, can also be to the work of circuit coding, the benefit that brings convenience, simplifies.
Embodiment six
Describe in conjunction with Figure 14.
Earlier the label among the figure is described: the 1st, body, the 2nd, supporting base, the 3rd, crawler belt foot, the 5th, long connecting rod, the 6th, short connecting rod, the 7th, ball screw, the 13rd, axis of revolution, the 15th, slide block; 90 ° is the angle between drawn two straight lines.
The present embodiment introduction be an alternative technology scheme.
In the present embodiment, the rotation point of attachment of the rotation point of attachment of long connecting rod 5 upper ends and slide block 15, short connecting rod 6 upper ends and body 1 all is located on the same line, shown in the horizontal dotted line among Figure 14.The rotation point of attachment of the rotation point of attachment of long connecting rod 5 lower ends and axis of revolution 13, short connecting rod 6 and body 1, it is vertical with above-mentioned straight line to connect two lines that rotate point of attachments formation, shown in two vertical dotted line among Figure 14.
Above-mentioned rotation point of attachment is meant the center of rotation that rotates the connection place.
Rotate the point of attachment conllinear, can reduce the moment loss.
In addition, technique scheme also can be implemented in embodiment four and Figure 11, Figure 12.
Claims (13)
1. a mechanical running mechanism comprises body (1), support adjusting mechanism, control circuit, crawler belt foot (3) and axis of revolution (13) thereof, it is characterized in that:
Described support adjusting mechanism mainly comprises: balance sensor (8), motor (9), the supporting base (2) of slide block (15), long connecting rod (5), short connecting rod (6), ball screw (7), detection vertical equity degree;
The upper end of long connecting rod (5) is rotated with slide block (15) and is connected; The middle part of long connecting rod (5) is rotated with the lower end of short connecting rod (6) and is connected, and the upper end of short connecting rod (6) is rotated with body (1) and connected; Axis of revolution (13) on the lower end of long connecting rod (5) and the crawler belt foot (3) connects;
Slide block (15) moves with ball screw (7) rotation and connects; The position, two ends of ball screw (7) is rotated with two supporting bases (2) respectively and is connected; Supporting base (2) is fixedly connected with body (1);
The output shaft driving coupling of ball screw (7) and motor (9); Motor (9) is fixedly connected with body (1); The terminals of motor (9) link to each other with control circuit by electric wire;
Balance sensor (8) is fixedly connected with body (1), and the terminals of balance sensor (8) link to each other with control circuit by electric wire;
Described mechanical running mechanism has two cover support adjusting mechanisms, by vertical arrangement, be symmetrical arranged; In every cover support adjusting mechanism: long connecting rod (5) and short connecting rod (6) have two.
2. a kind of mechanical running mechanism according to claim 1, it is characterized in that: described support adjusting mechanism, be X-shaped between two long connecting rods (5) and be staggered front to back, its upper end connects with slide block (15) rotation, the lower end is fixedly connected or rotates with axis of revolution (13) and connects.
3. a kind of mechanical running mechanism according to claim 1, it is characterized in that: in the described support adjusting mechanism, the upper end of two long connecting rods (5) and slide block (15), the three forms at same center of rotation place to rotate and connects, and the lower end of long connecting rod (5) is fixedly connected or rotates with axis of revolution (13) and connects.
4. a kind of mechanical running mechanism according to claim 1, it is characterized in that: described support adjusting mechanism, the upper end of front side long connecting rod (5) is rotated with the position, front side of slide block (15) and is connected, and the upper end of rear side long connecting rod (5) is rotated with the rear side position of slide block (15) and connected; The lower end of long connecting rod (5) is fixedly connected or rotates with axis of revolution (13) and connects.
5. a kind of mechanical running mechanism according to claim 1 is characterized in that: described motor (9) has two; The terminals of each motor (9) have dedicated wires to link to each other separately with control circuit.
6. a kind of mechanical running mechanism according to claim 1 is characterized in that: described balance sensor (8) has two.
7. a kind of mechanical running mechanism according to claim 1 is characterized in that: the output shaft driving coupling of described ball screw (7) and motor (9), be meant belt or strap drive connection synchronously, and be meant that perhaps gear transmission connects, be meant that perhaps chain-driving connects.
8. a kind of mechanical running mechanism according to claim 1 is characterized in that: in described support adjusting mechanism, and first distance, second distance and the 3rd distance, three's distance equates;
Described first distance is meant: the distance between the rotation point of attachment of short connecting rod (6) two ends; Described second distance is meant: the lower end rotation point of attachment of long connecting rod (5) rotates the distance between the point of attachment to the middle part; Described the 3rd distance is meant: the middle part rotation point of attachment of long connecting rod (5) rotates the distance between the point of attachment to the upper end.
9. a kind of mechanical running mechanism according to claim 1 is characterized in that:
In described support adjusting mechanism, the upper end of long connecting rod (5) is rotated the upper end of point of attachment and short connecting rod (6) and is rotated point of attachment, is located on the same line;
In described support adjusting mechanism, the rotation point of attachment of the rotation point of attachment of long connecting rod (5) lower end and axis of revolution (13), short connecting rod (6) and body (1) connects these two and rotates the formed lines of point of attachment, and is vertical mutually with above-mentioned straight line.
10. a kind of mechanical running mechanism according to claim 1 is characterized in that:
Described crawler belt foot (3) mainly comprises crawler belt foot support (14), crawler belt (10), axis of revolution (13), tension wheel (11), driving wheel (12), imput shaft and movable motor;
Axis of revolution (13) is positioned between driving wheel (12) and the tension wheel (11), axis of revolution (13) is gone back and crawler belt foot support (14) rotates connection; Movable motor and crawler belt foot support (14) are fixedly connected; Imput shaft respectively with driving wheel (12) key connecting, rotate with crawler belt foot support (14) connects, with the output shaft driving coupling of movable motor, described driving coupling be meant belt or synchronously strap drive connect or be meant the gear transmission connection; Tension wheel (11) rotates with crawler belt foot support (14) and connects; Crawler belt (10) hanging sleeve is on driving wheel (12) and tension wheel (11);
Each movable motor uses independent electric wire to link to each other with control circuit.
11. a kind of mechanical running mechanism according to claim 10, it is characterized in that: described axis of revolution (13), its axle center is positioned at the midperpendicalar downside of driving wheel (12) and tension wheel (11) axial connecting line, and the axle center that constitutes with axis of revolution (13) is the handstand equicrural triangle on summit.
12. a kind of mechanical running mechanism according to claim 10, it is characterized in that: described axis of revolution (13), its axle center is positioned at the downside of driving wheel (12) and tension wheel (11) axial connecting line, and the axle center that constitutes with axis of revolution (13) is the handstand triangle on summit.
13. a kind of mechanical running mechanism according to claim 10 is characterized in that: described crawler belt foot (3) also includes contact pickup (4); Each crawler belt foot (3) has two contact pickups (4), is fixedly connected respectively in the inboard and the outside of crawler belt support (14); Each contact pickup (4) links to each other with control circuit by independent circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100476520A CN100567067C (en) | 2007-10-31 | 2007-10-31 | A kind of mechanical running mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100476520A CN100567067C (en) | 2007-10-31 | 2007-10-31 | A kind of mechanical running mechanism |
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| Publication Number | Publication Date |
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| CN101219682A CN101219682A (en) | 2008-07-16 |
| CN100567067C true CN100567067C (en) | 2009-12-09 |
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| CNB2007100476520A Expired - Fee Related CN100567067C (en) | 2007-10-31 | 2007-10-31 | A kind of mechanical running mechanism |
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| CN (1) | CN100567067C (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101984575B1 (en) | 2012-06-25 | 2019-09-03 | 엘지전자 주식회사 | Robot Cleaner and Controlling Method for the same |
| CN103481956B (en) * | 2013-09-29 | 2015-12-02 | 中国地质大学（武汉） | Sampling robots traveling gear |
| CN104973124A (en) * | 2015-07-13 | 2015-10-14 | 邹帆 | Chassis structure of suspension frame electric vehicle |
| US11584181B2 (en) * | 2017-03-15 | 2023-02-21 | Hong Kong R&D Centre for Logistics and Supply Chain Management Enabling Technologies Limited | Self leveling autonomous guided vehicle |
| CN108860348A (en) * | 2018-08-17 | 2018-11-23 | 西北农林科技大学 | A kind of levelling mechanism of the mountainous region crawler tractor based on splined shaft transmission |
| CN112046635B (en) * | 2020-08-25 | 2021-08-24 | 东北大学 | Wheel-leg combined type chassis capable of rapidly climbing steps and suitable for mobile robot |
| CN113044132B (en) * | 2021-03-25 | 2022-05-13 | 华南理工大学广州学院 | Multi-foot rotating balance robot and control method |
| CN113607165B (en) * | 2021-08-12 | 2024-04-16 | 长沙万英科技发展有限公司 | Attitude measurement system |
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Inventor after: Mao Limin Inventor after: Guo Wenli Inventor after: Yang Chongchang Inventor after: Chen Ge Inventor after: Long Bin Inventor after: Jin Song Inventor after: Jin Tao Inventor after: Li Rui Inventor after: Yu Haitao Inventor after: Zou Jian Inventor before: Mao Limin Inventor before: Chen Ge Inventor before: Long Bin Inventor before: Jin Song Inventor before: Jin Tao Inventor before: Li Rui Inventor before: Yu Haitao Inventor before: Zou Jian Inventor before: Guo Wenli |
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Free format text: CORRECT: INVENTOR; FROM: MAO LIMIN CHEN GE LONG BIN JIN SONG JIN TAO LI RUI YU HAITAO ZOU JIAN GUO WENLI TO: MAO LIMIN YANG CHONGCHANG CHEN GE LONG BIN JIN SONG JIN TAO LI RUI YU HAITAO ZOU JIAN GUO WENLI |
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