CN101628419B - Balancing mechanism with auxiliary sand wheel adapted to geography - Google Patents
Balancing mechanism with auxiliary sand wheel adapted to geography Download PDFInfo
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- CN101628419B CN101628419B CN2009100726402A CN200910072640A CN101628419B CN 101628419 B CN101628419 B CN 101628419B CN 2009100726402 A CN2009100726402 A CN 2009100726402A CN 200910072640 A CN200910072640 A CN 200910072640A CN 101628419 B CN101628419 B CN 101628419B
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Abstract
The invention provides a balancing mechanism with an auxiliary sand wheel adapted to geography and is characterized in that the balancing mechanism comprises a middle car body balancing module and an auxiliary driving module; the middle car body balancing module comprises a left side vertical plate, paired sliding bearings with flanges, a left side rocker input straight gear, a left rocker transmission straight gear, a round pin, a shaft end retainer ring, paired axle elastic retainer ring, a left side driven straight gear, a left side gear case end closure, a right side gear case end closure, a right side gear case end closure, a right side driven straight gear, a right side vertical plate, a connecting bar, a round head level-key, and a right side rocker input straight gear; the left side vertical plate is connected with the right side gear case end closure to form a left side gear case engine base; the auxiliary driving module comprises a left side axial retainer ring, the paired sliding bearings with the flanges, a rocking bar rotating sleeve, the right side axial retainer ring, the rocking bar, a binding nut, a rocking bar adjusting seat and an auxiliary sand wheel part. The balancing mechanism has the advantages of simple, compact and reliable structure, strong ground surface adaptability and guaranteeing the minimum pitching of the main car body of a mobile robot.
Description
(1) technical field
What the present invention relates to is a kind of robot components, specifically a kind of balanced controls that are used for the mobile robot.
(2) background technology
The vehicle body balanced controls are important component parts of mobile robot's traveling portion, and it can reduce the disturbance of the suffered landform of vehicle body, and coordinate rocking arm and wheel movement and stressed effect.Comparatively classical in history balanced controls mainly contain some kinds, as the separate type balanced controls of jet propulsion laboratory (JPL) Application and Development on Marsokhod Spirit, five of the mars exploration car Micro5 of Japan ISAS (ISAS) and the development of university of Benq takes turns the PEGASUS travel structure, awl gear planetary wheel formula balanced controls of Harbin Institute of Technology or the like.These balanced controls or be applied to six wheel systems, or be applied to the four-wheel system, generally wheel system is directly connected in the input of balanced controls, but does not connect auxiliary drive from one's body at balanced controls; Adopted the 5th to take turns auxiliary drive wheels though five of Micro5 takes turns the PEGASUS travel structure, the 5th takes turns and just freely is hinged on the probe vehicles front end and connects on the polished rod of two side body.In a word, said mechanism has played the motion of coordinating the mobile robot, variation that can adaptation to the ground, but but not with adaptation to the ground auxiliary wheel and the organic combination of balance sysmte, have certain limitation, embody a concentrated expression of: (1) uses balanced controls separately, can provide corresponding stable workbench for scientific instrument, but do not possess auxiliary process auxiliary drive module, can better not finish the mensuration of some performance parameter of mobile robot.(2) as the PEGASUS travel structure of Micro5,, can not constitute stable workbench for scientific instrument though possessed the process auxiliary drive module.
(3) summary of the invention
The object of the present invention is to provide a kind of simple in structurely, compact, regulating power is strong, and the obstacle performance height can adapt to a kind of balanced controls that have auxiliary sand wheel adapted to geography of multiple environment.
The object of the present invention is achieved like this:
Form by middle car body balancing module and process auxiliary drive module; Middle car body balancing module comprises left side vertical plate, paired flanged (FLGD) sliding bearing, left side rocking arm input spur gear, left side transmission spur gear, straight pin, shaft end ring, paired circlip for shaft, the driven spur gear in left side, left side gear case end cap, right side gear case end cap, the driven spur gear in right side, the right side riser, connecting rod, the round end flat key, right side rocking arm input spur gear, left side vertical plate and left side gear case end cap connect and compose left side gear punch-out equipment seat, left side rocking arm input spur gear, be respectively equipped with paired flanged (FLGD) sliding bearing between left side transmission spur gear and the left side gear punch-out equipment seat, the driven spur gear in left side is by the round end flat key, paired circlip for shaft is affixed on the connecting rod, right side riser and right side gear case end cap connect and compose right side gear punch-out equipment seat, be provided with paired flanged (FLGD) sliding bearing between right side rocking arm input spur gear and the right side gear punch-out equipment seat, the driven spur gear in right side is by the round end flat key, paired circlip for shaft is affixed on the connecting rod, be solidly set on paired flanged (FLGD) sliding bearing on left side gear punch-out equipment seat and the right side gear punch-out equipment seat respectively with forming revolute pair between the connecting rod, and use cross recessed countersunk head sscrew, straight pin is fixed on shaft end ring the end of connecting rod; The process auxiliary drive module comprises that left-hand axis is to back-up ring, paired flanged (FLGD) sliding bearing, the rocking bar rotary sleeve, right-hand axis is to back-up ring, rocking bar, binding nut, rocking bar is adjusted seat and auxiliary sand wheel adapted parts, paired flanged (FLGD) sliding bearing is installed in the endoporus of rocking bar rotary sleeve, the left-hand axis that is positioned at rocking bar rotary sleeve both sides all is contained on the connecting rod to back-up ring and right-hand axis to back-up ring, one side and the rocking bar rotary sleeve of rocking bar connect firmly, the upper end of opposite side and rocking bar adjustment seat screws by screw thread and regulates its effective length, binding nut is adjusted both lockings of seat with rocking bar and rocking bar, and auxiliary sand wheel adapted parts are installed in the lower end that rocking bar is adjusted seat.
It is simple in structure, compact, reliable that the present invention has, guarantee mobile robot's main car body (middle car body) pitching minimum, for scientific instrument provide stabilized platform, the adaptable advantage in ground, and connecting rod 22 has strengthened the driving force of car load by the auxiliary sand wheel adapted system that related device connects, and has improved its obstacle performance, the meter that can also install instruments in auxiliary sand wheel adapted system is calculated some performance parameter of mobile robot, as slippage rate etc.
(4) description of drawings
Fig. 1 is a main cutaway view of the present invention;
Fig. 2 is that the A-A of Fig. 1 is to cutaway view;
Fig. 3 is that the B-B of Fig. 1 is to cutaway view;
Fig. 4 is that the C-C of Fig. 1 is to cutaway view;
Fig. 5 is that the D-D of Fig. 2 is to cutaway view.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
A kind of balanced controls that have an auxiliary sand wheel adapted to geography by middle car body balancing module and process auxiliary drive module totally two modules form.In conjunction with Fig. 1-Fig. 5, wherein middle car body balancing module is by left side vertical plate 1, hexagon socket cap head screw assembly 2, paired flanged (FLGD) sliding bearing 3, left side rocking arm input spur gear 4, left side transmission spur gear 5, paired flanged (FLGD) sliding bearing 6, straight pin 7, cross recessed countersunk head sscrew 8, shaft end ring 9, paired circlip for shaft 10, round end flat key 11, the driven spur gear 12 in left side, left side gear case end cap 13, right side gear case end cap 18, the driven spur gear 19 in right side, right side riser 20, paired circlip for shaft 21, connecting rod 22, round end flat key 23, paired flanged (FLGD) sliding bearing 24, right side rocking arm input spur gear 25, paired flanged (FLGD) sliding bearing 26, hexagon socket cap head screw assembly 27 and paired flanged (FLGD) sliding bearing 32 are formed.The process auxiliary drive module is made up of to back-up ring 17, rocking bar 28, binding nut 29, rocking bar adjustment seat 30 and auxiliary sand wheel adapted parts 31 to back-up ring 14, paired flanged (FLGD) sliding bearing 15, rocking bar rotary sleeve 16, right-hand axis left-hand axis.The process auxiliary drive module can be followed change of topography and be freely swung around the connecting rod 22 of middle car body balancing module.
Left side vertical plate 1 connects and composes left side gear punch-out equipment seat with left side gear case end cap 13 by hexagon socket cap head screw assembly 2 in middle car body balancing module, be respectively equipped with paired flanged (FLGD) sliding bearing 3, paired flanged (FLGD) sliding bearing 32 between left side rocking arm input spur gear 4, left side transmission spur gear 5 and the left side gear punch-out equipment seat, the driven spur gear 12 in left side is affixed on the connecting rod 22 by round end flat key 11, paired circlip for shaft 10; In like manner, right side riser 20 connects and composes right side gear punch-out equipment seat with right side gear case end cap 18 by hexagon socket cap head screw assembly 27, be provided with paired flanged (FLGD) sliding bearing 26 between right side rocking arm input spur gear 25 and the right side gear punch-out equipment seat, the driven spur gear 19 in right side is affixed on the connecting rod 22 by round end flat key 23, paired circlip for shaft 21; Be solidly set on the paired flanged (FLGD) sliding bearing 6 on left side gear punch-out equipment seat and the right side gear punch-out equipment seat, paired flanged (FLGD) sliding bearing 24 respectively with forming revolute pair between the connecting rod 22, and shaft end ring 9 be fixed on the left end of connecting rod 22 with cross recessed countersunk head sscrew 8, straight pin 7.Paired flanged (FLGD) sliding bearing 15 adopts interference fits to be installed in the endoporus of rocking bar rotary sleeve 16 in the process auxiliary drive module, make rocking bar rotary sleeve 16 to freely swing around the middle part of connecting rod 22, the left-hand axis that is positioned at rocking bar rotary sleeve 16 both sides all is contained on the connecting rod 22 to back-up ring 17 to back-up ring 14 and right-hand axis, and their axial ends separately respectively with paired flanged (FLGD) sliding bearing 15, paired flanged (FLGD) sliding bearing 6, the respective flange face of paired flanged (FLGD) sliding bearing 24 constitutes revolute pair, one side of rocking bar 28 and 16 welding of rocking bar rotary sleeve connect firmly, the upper end of opposite side and rocking bar adjustment seat 30 screws by screw thread and regulates its effective length, binding nut 29 is adjusted seat 30 both lockings with rocking bar 28 and rocking bar, keep given relative position, auxiliary sand wheel adapted parts 31 are installed in the lower end that rocking bar is adjusted seat 30.Middle car body balancing module becomes middle car body can be for the stabilized platform of scientific instrument use, and process auxiliary drive module adaptive change of topography can freely swing around connecting rod 22, has strengthened the driving and the obstacle performance of car load.
Its operation principle is: mobile robot's left and right sides rocking arm links to each other with main car body (middle car body) by middle car body balancing module, can carry out linear averaging to the pivot angle of both sides rocking arm, and be converted into the pivot angle output of main car body, can reduce main car body effectively and change suffered disturbance because of landform.The core of balance module is the differential gear train of separate type among the present invention, relative ground inertial coodinate system, left side rocking arm input spur gear 4, right side rocking arm input spur gear 25 links to each other with the both sides rocking arm respectively as the centre wheel of two motion inputs, 5 effects of left side transmission spur gear are the rotation directions that change the driven spur gear 12 in left side, the driven spur gear 12 in left side is planetary gears with the driven spur gear 19 in right side, they are by connecting rod 22 and paired circlip for shaft 10, round end flat key 11, paired circlip for shaft 21, round end flat key 23 connects into integral body, revolve round the sun around self axis autobiography with around the centre wheel axis synchronously, left side vertical plate 1, right side riser 20 is a tie-rod with the motion output link that main car body (middle car body) connects firmly as train, for the mobile robot who advances, main car body is the mean value of both sides rocking arm to the pitching pivot angle of inertial coodinate system to the pitching pivot angle of inertial coodinate system like this.Rocking bar rotary sleeve 16 in the process auxiliary drive module can freely swing around connecting rod 22 simultaneously, and left-hand axis has limited its axial float to back-up ring 14 and right-hand axis to back-up ring 17, one side of rocking bar 28 and 16 welding of rocking bar rotary sleeve connect firmly, the upper end of opposite side and rocking bar adjustment seat 30 screws by screw thread and regulates self effective length, binding nut 29 is adjusted seat 30 both lockings with rocking bar 28 and rocking bar, keep given relative position, auxiliary sand wheel adapted parts 31 are installed in the lower end that rocking bar is adjusted seat 30, thereby guaranteed that auxiliary sand wheel adapted parts 31 contact with ground all the time, corresponding tractive force can be provided, and then strengthened the driving force of car load, improved its obstacle performance, the meter that can also install instruments on auxiliary sand wheel adapted parts is calculated some performance parameter of mobile robot.Therefore the balanced controls that have an auxiliary sand wheel adapted to geography all have excellent performance stationarity, anti-overturning aspect ability and the obstacle climbing ability to the mobile robot.
Claims (1)
1. balanced controls that have auxiliary sand wheel adapted to geography is characterized in that: be made up of middle car body balancing module and process auxiliary drive module; Middle car body balancing module comprises left side vertical plate, paired flanged (FLGD) sliding bearing, left side rocking arm input spur gear, left side transmission spur gear, straight pin, shaft end ring, paired circlip for shaft, the driven spur gear in left side, left side gear case end cap, right side gear case end cap, the driven spur gear in right side, the right side riser, connecting rod, the round end flat key, right side rocking arm input spur gear, left side vertical plate and left side gear case end cap connect and compose left side gear punch-out equipment seat, left side rocking arm input spur gear, be respectively equipped with paired flanged (FLGD) sliding bearing between left side transmission spur gear and the left side gear punch-out equipment seat, the driven spur gear in left side is by the round end flat key, paired circlip for shaft is affixed on the connecting rod, right side riser and right side gear case end cap connect and compose right side gear punch-out equipment seat, be provided with paired flanged (FLGD) sliding bearing between right side rocking arm input spur gear and the right side gear punch-out equipment seat, the driven spur gear in right side is by the round end flat key, paired circlip for shaft is affixed on the connecting rod, be solidly set on paired flanged (FLGD) sliding bearing on left side gear punch-out equipment seat and the right side gear punch-out equipment seat respectively with forming revolute pair between the connecting rod, and use cross recessed countersunk head sscrew, straight pin is fixed on shaft end ring the end of connecting rod; The process auxiliary drive module comprises that left-hand axis is to back-up ring, paired flanged (FLGD) sliding bearing, the rocking bar rotary sleeve, right-hand axis is to back-up ring, rocking bar, binding nut, rocking bar is adjusted seat and auxiliary sand wheel adapted parts, paired flanged (FLGD) sliding bearing is installed in the endoporus of rocking bar rotary sleeve, the left-hand axis that is positioned at rocking bar rotary sleeve both sides all is contained on the connecting rod to back-up ring and right-hand axis to back-up ring, one side and the rocking bar rotary sleeve of rocking bar connect firmly, the upper end of opposite side and rocking bar adjustment seat screws by screw thread and regulates its effective length, binding nut is adjusted both lockings of seat with rocking bar and rocking bar, and auxiliary sand wheel adapted parts are installed in the lower end that rocking bar is adjusted seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100726402A CN101628419B (en) | 2009-08-05 | 2009-08-05 | Balancing mechanism with auxiliary sand wheel adapted to geography |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100726402A CN101628419B (en) | 2009-08-05 | 2009-08-05 | Balancing mechanism with auxiliary sand wheel adapted to geography |
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| Publication Number | Publication Date |
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| CN101628419A CN101628419A (en) | 2010-01-20 |
| CN101628419B true CN101628419B (en) | 2011-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009100726402A Expired - Fee Related CN101628419B (en) | 2009-08-05 | 2009-08-05 | Balancing mechanism with auxiliary sand wheel adapted to geography |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5644204A (en) * | 1994-11-03 | 1997-07-01 | Nagle; John | Anti-slip control for a legged robot and realisitc simulation of a legged creature |
| CN2902981Y (en) * | 2006-03-08 | 2007-05-23 | 张锦然 | Mechanical handling device of object stacking machine |
| CN201218316Y (en) * | 2008-04-18 | 2009-04-08 | 中国矿业大学 | Planet gear type differential balancing mechanism |
-
2009
- 2009-08-05 CN CN2009100726402A patent/CN101628419B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5644204A (en) * | 1994-11-03 | 1997-07-01 | Nagle; John | Anti-slip control for a legged robot and realisitc simulation of a legged creature |
| CN2902981Y (en) * | 2006-03-08 | 2007-05-23 | 张锦然 | Mechanical handling device of object stacking machine |
| CN201218316Y (en) * | 2008-04-18 | 2009-04-08 | 中国矿业大学 | Planet gear type differential balancing mechanism |
Non-Patent Citations (2)
| Title |
|---|
| 付宜利,徐贺,王树国,马玉林,顾晓宇.沙地环境移动机器人驱动轮的发展概况综述.《机器人技术与应用》.2004,第2004卷(第4期),22-29. * |
| 陶建国,全齐全,邓宗全,赵文德.月球车不等径车轮在土壤上滚动的力学分析与实验.《哈尔滨工程大学学报》.2007,第28卷(第10期),1144-1149. * |
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| CN101628419A (en) | 2010-01-20 |
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Granted publication date: 20110105 Termination date: 20180805 |