CN101712340A - Foot rail type walking vehicle - Google Patents
Foot rail type walking vehicle Download PDFInfo
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- CN101712340A CN101712340A CN200910311743A CN200910311743A CN101712340A CN 101712340 A CN101712340 A CN 101712340A CN 200910311743 A CN200910311743 A CN 200910311743A CN 200910311743 A CN200910311743 A CN 200910311743A CN 101712340 A CN101712340 A CN 101712340A
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- walking vehicle
- rail type
- type walking
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- balladeur train
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Abstract
The foot rail type walking vehicle belongs to the field of walking robot. The foot rail type walking vehicle utilizes two supporting seats (1) to alternately support a main body to advance, and two supporting seats are arranged by an upper layer and a lower layer and are mutually connected by a turntable bearing (2) so as to realize flexible swerve; each supporting seat is respectively supported by three supporting legs (3) capable of freely stretching and is connected to a horizontal sliding rail (4) on the supporting seat; the supporting legs stretch to finish the action of putting down feet and raising feet as well as slide back and forth relatively to the sliding rail to finish the action of moving and taking a step. In the process of taking a step, the supporting legs stretch to lift and lower the height of the main body or change the horizontal dip angle of the main body to finish uphill, descent or stable barrier crossing. The invention is especially suitable for stably walking on bumpy mountain roads, deserts or other planets.
Description
Technical field
The invention belongs to the walking robot field, is a kind of running gear of advancing under MODEL OVER COMPLEX TOPOGRAPHY of being suitable for, especially a kind of running gear that is suitable for external celestial body detecting.
Background technology
Continuous expansion along with the mankind's activity space, people's active demand is a kind of under MODEL OVER COMPLEX TOPOGRAPHY, can walk freely mechanical device of celestial body outside particularly, (we list it in the rail class so long with wheeled, crawler type at present, be called and carry out the rail formula, because its crawler belt resembles two tracks that oneself carry), sufficient formula is comparatively common.But wheeled obstacle climbing ability is poor, particularly in the desert region, falls into car (resemble the Marsokhod of the U.S.---Opportunity Rover and courage number all once had the adventure experience that is absorbed in the sand dune) easily, crawler type efficient is low, turn to dumb, sufficient formula complex structure, the control difficulty is big, and walking stability is poor.This forces us to remove actively to seek other more mode of motion of science.The mode of motion that a kind of novelty is arranged---foot rail type is (as application number CN89101463.2, application number CN200520114937.8, the described machinery of application number CN93120403.8, all be to support an orbit plane by many supporting legs, be beneficial to steadily walking of machinery, therefore can list the rail class in, be called foot rail type) plant mode of motion with first three and compare complex-terrain stronger comformability is arranged.But the design of this mode of motion is still far from perfect, and exists many problems: (1) can't continuous movement, can only do intermittent moving---move, seem clumsy, speed and efficient are all very low.(2) turn to dumbly, what have even is not proper turning to.(3) level inclination of car body can not change in advancing, and this is unfavorable for walking on the slope of great slope.(4) the flexible ratio of supporting leg is limited, and it is excessive to take up space.(5) owing to relatively move significantly between car body, make electric power, control path difficult arrangement, particularly under the extreme temperature condition, dragging of circuit can influence its intensity and life-span.Because the existence of these problems, this mode of motion also is difficult to enter the practical stage.
Summary of the invention
The technical matters that the present invention solves is all deficiencies that exist at each foot rail type running gear at present, design a kind of be suitable under MODEL OVER COMPLEX TOPOGRAPHY can be steadily, the quick walking, turn to flexible, small and exquisite novel efficiently foot rail type walking vehicle.Technical solution of the present invention is: a kind of foot rail type walking vehicle, by main body, supporting base (1) and supporting leg (3) and drive system and control system formation, it is characterized in that: this walking vehicle has two supporting bases and by two-layer layout up and down, connect with swing type mechanism, each supporting base edge all is fixed with the parallel horizontal slide rail (4) of a plurality of and preceding line direction; Supporting leg is a mechanical-stretching mechanism, and its top is connected on the balladeur train (5) of slide rail (4); Horizontal driving system (7) is made of the straight-line transmitting actuation mechanism, and its end is connected on the balladeur train of slide rail, and under the driving of horizontal driving system, supporting leg slides with before and after balladeur train is on slide rail; Under the driving of telescopic drive system (6), extensible, the contraction of supporting leg.Its principle of work is: the walking vehicle main body relies on upper and lower two supporting bases alternately to support respectively and promotes and advance, under the driving of horizontal driving system, slide in supporting leg front and back on slide rail, finish the fortune step, take a step to move, under the driving of telescopic drive system, supporting leg shrinks, stretches and finish the action of lifting, stop over.This is similar to creeping of quadrupeds.Its concrete every function realizes that principle is as follows: (1) moves ahead in the process of moving ahead, and each supporting leg of supporting base closely cooperates under the control of control system up and down, and fortune leg speed degree will be faster than the speed of taking a step, so that carry out the linking of supportive body in turn.Each supporting leg of carrying out the action of fortune step specifically should travel forward with the speed a little more than each supporting leg of taking a step to move, just (have only speed identical to slide backward rapidly after foremost arriving track with the same fast speed of the speed of taking a step, each feet is zero with respect to ground-surface horizontal motion speed, minimum when landing) to ground-surface impact, carry out the action of stopping over simultaneously, after waiting each feet all to land, in advancing, support the task initiation handing-over.Each supporting leg (this moment should near the end of track) that executes the task of taking a step is carried out at once and is lifted foot-propelled and do, wait lift fully after, carry out the action of fortune step again.Each supporting leg of upper and lower like this two supporting bases closely cooperates constantly to repeat and lifts pin, and---the fortune step,---stop over---taking a step---lifted pin ... promoting main body advances continuously.Just as travelling on rail, resistance is especially little.(2) turn under the driving of swing type mechanism, thereby certain angle rotation takes place and realizes turning in supporting base relatively up and down; When walking vehicle stops to move ahead, under the driving of swing type mechanism, only depend on the cooperation of the action of lifting, stop over, can easily finish pivot stud.(3) upper and lower slope if run into uphill road, under the driving of telescopic drive system, makes the supporting leg that respectively lands extend overhead height of lifting mechanical body gradually, thereby reaches steady climbing in machinery advances process; Otherwise,, each supporting leg that lands is shortened gradually reduces main body height overhead, thereby reach steady descending if run into the downhill path.In addition, if the gradient on upper and lower slope is more greatly or longer, also can realize uphill/downhill by the level inclination of control mechanical body, its method is: the length of the preceding supporting leg that elongation lands during upward slope, reduce the height of the back supporting leg that lands simultaneously, thereby increase the horizon elevation angle of main body; Otherwise during descending then, to increase the horizontal angle of depression of main body.
Advantage of the present invention is: this walking vehicle has stronger adaptive capacity to complex-terrain, even in rugged mountain region, soft desert region advances, and as steady advancing on rail, improved efficient greatly.In addition, it turns to flexibly, obstacle crossing ability is strong.
Description of drawings
Fig. 1 is the perspective view of foot rail type walking vehicle
Fig. 2 is the birds-eye view of foot rail type walking vehicle
Fig. 3 is the enlarged drawing of supporting leg
Wherein: 1-supporting base, 2-turntable bearing, 3-supporting leg, the 4-slide rail, 5-balladeur train, 6-telescopic drive system, the 7-horizontal driving system, 8-linear electric motors, 9-worm gear, 10-tubular worm screw, 11-magnetoelectricity torque sensor, 12, the 13-motor, the 14-sleeve, the 15-cross bar, 16-groove shape foot, 17-is to wheels
The specific embodiment
Below in conjunction with accompanying drawing narration one embodiment of the present of invention.A kind of foot rail type walking vehicle under the present invention, its swing type mechanism is made of the potentiometer of motor (13), retarder, turntable bearing (2) and measurement degreeof turn.Two supporting bases of this walking vehicle all are " people " font, and are symmetrical arranged, and are " * " shape, and each supporting base all is fixed with three groups of slide rails accordingly.Slide rail is made of rolling linear guide pin bushing pair, constitutes " H " shape slide mechanism with balladeur train.Supporting leg has one group of sleeve (14) and two " ∑ " shapes " lever and gear wheel " assembly to constitute, comply with symmetrically before and after two " ∑ " shape assemblies and assist in sleeve group both sides, " ∑ " shape assembly flex point is two and is meshing with each other and gear that its rotating shaft links together with connecting strap---to wheels (17), connecting strap to wheels in the middle of " ∑ " shape assembly is fixed on the corresponding sleeve, " ∑ " shape assembly head end is a gear, with the cross bar on the balladeur train serves as that axle is connected on the balladeur train, " ∑ " shape assembly end is connected on the cross bar (15) that is fixed in sleeve by a rotating shaft, sleeve group opening upwards is fixed on the balladeur train vertically, its bottom sleeve connects a spherical shape projection, accordingly, ball recess shape foot (16) is coupled." ∑ " shape assembly head end gear is a worm gear (9), corresponding telescopic drive system is by motor (12), magnetoelectricity torque sensor (11) [annotating: the moment of torsion flexible axle and the gear of the magnetoelectricity torque sensor that only drawn among the figure] and rolling spline pair formation, wherein the spline housing tubular worm screw (10) that is made into two radial symmetry and is meshed with two worm gears (9) respectively.Can measure the torque of transmission shaft by the magnetoelectricity torque sensor, supporting leg when the torque rating of being surveyed during greater than certain numerical value, can confirm that supporting leg contacts to earth when stopping over.In addition, can detect the number of turns that rotating shaft is rotated, and calculate the flexible length of supporting leg thus by the magnetoelectricity torque sensor, thus the height that the may command supporting leg is raised and prevent that the supporting leg collapsing length from surpassing limit value.Utilize the unidirectional delivery of worm and gear transmission, automatically lock the position after supporting leg is landed.The a pair of shift fork (be fixed on the balladeur train, do not draw among the figure) that is stuck in spline housing (tubular worm screw) both sides slides with the front and back of balladeur train, drives tubular worm screw front and back on castellated shaft and slides.Motor (12) adopts switched reluctance machines, is fixed on the supporting base.Horizontal driving system is made of linear electric motors (8), and linear electric motors are fixed on the supporting base.The fortune step of supporting leg, the speed of taking a step and present position can be determined by the rotor-position feedback signal of linear electric motors, perhaps in the rear and front end of slide rail travel switch are set and judge.The characteristics of linear electric motors be simple in structure, driving efficiency is high, can use under adverse weather condition, but its moment is less, under the big moment situation of need, horizontal driving system can be made of the straight-line transmitting actuation mechanism that tooth bar, motor constituted.
Claims (8)
1. foot rail type walking vehicle, by main body, supporting base (1) and supporting leg (3) and drive system and control system formation, it is characterized in that: this walking vehicle has two supporting bases and by two-layer layout up and down, connect with swing type mechanism, each supporting base edge all is fixed with the parallel horizontal slide rail (4) of a plurality of and preceding line direction; Supporting leg is a mechanical-stretching mechanism, and its top is connected on the balladeur train (5) of slide rail (4); Horizontal driving system (7) is made of the straight-line transmitting actuation mechanism, and its end is connected on the balladeur train of slide rail, and under the driving of horizontal driving system, supporting leg slides with before and after balladeur train is on slide rail; Under the driving of telescopic drive system (6), extensible, the contraction of supporting leg.
2. a kind of foot rail type walking vehicle as claimed in claim 1 is characterized in that this swing type mechanism is made of the potentiometer of motor (13), retarder, turntable bearing (2) and measurement degreeof turn.
3. a kind of foot rail type walking vehicle as claimed in claim 1 is characterized in that two supporting bases all are " people " font, and is symmetrical arranged that be " * " shape, each supporting base all is fixed with three groups of slide rails accordingly.
4. a kind of foot rail type walking vehicle as claimed in claim 3 is characterized in that slide rail is made of rolling linear guide pin bushing pair, constitutes " H " shape slide mechanism with balladeur train.
5. a kind of foot rail type walking vehicle as claimed in claim 4, it is characterized in that supporting leg has one group of sleeve (14) and two " ∑ " shapes " lever-gear " assembly to constitute, comply with symmetrically before and after two " ∑ " shape assemblies and assist in sleeve group both sides, " ∑ " shape assembly flex point is two and is meshing with each other and gear that its rotating shaft links together with connecting strap-to wheels (17), connecting strap to wheels in the middle of " ∑ " shape assembly is fixed on the corresponding sleeve, " ∑ " shape assembly head end is a gear, with on the balladeur train cross bar serve as the axle be connected on the balladeur train, " ∑ " shape assembly end is connected on the cross bar (15) that is fixed in sleeve by a rotating shaft, sleeve group opening upwards is fixed on the balladeur train vertically, its bottom sleeve connects a spherical shape projection, accordingly, ball recess shape foot (16) is coupled.
6. a kind of foot rail type walking vehicle as claimed in claim 5, it is characterized in that " ∑ " shape assembly head end gear is a worm gear (9), corresponding telescopic drive system is made of motor (12), magnetoelectricity torque sensor (11) and rolling spline pair, wherein the spline housing tubular worm screw (10) that is made into two radial symmetry and is meshed with two worm gears (9) respectively.
7. as claim 1 or 6 described a kind of foot rail type walking vehicles, it is characterized in that horizontal driving system is made of linear electric motors (8).
8. as claim 1 or 6 described a kind of foot rail type walking vehicles, it is characterized in that horizontal driving system is that the straight-line transmitting actuation mechanism that is made of tooth bar, motor constitutes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910311743XA CN101712340B (en) | 2009-12-17 | 2009-12-17 | Foot rail type walking vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910311743XA CN101712340B (en) | 2009-12-17 | 2009-12-17 | Foot rail type walking vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101712340A true CN101712340A (en) | 2010-05-26 |
| CN101712340B CN101712340B (en) | 2011-12-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910311743XA Expired - Fee Related CN101712340B (en) | 2009-12-17 | 2009-12-17 | Foot rail type walking vehicle |
Country Status (1)
| Country | Link |
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| CN (1) | CN101712340B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102745275A (en) * | 2012-07-19 | 2012-10-24 | 魏小钢 | Walking robot and walking method thereof |
| RU2495780C1 (en) * | 2012-05-03 | 2013-10-20 | Открытое акционерное общество "Центральное конструкторское бюро "Титан" | Traveler |
| CN105944264A (en) * | 2016-02-19 | 2016-09-21 | 青岛克路德机器人有限公司 | Ground-touch determination method of auxiliary support apparatus of robot and the robot |
| RU172946U1 (en) * | 2016-03-10 | 2017-08-01 | Георгий Сергеевич Васильянов | A SYMMETRIC STEPPING PLATFORM BASED ON A SYMMETRIC THREE-YEAR MOTOR WITH A LINEAR-SLIDING SUPPORT AND INTEGRATED CONTROL DEVICE |
| CN107685785A (en) * | 2017-06-29 | 2018-02-13 | 济宁山云宇内机电科技有限公司 | A kind of sufficient formula walking robot |
| CN108263507A (en) * | 2018-02-05 | 2018-07-10 | 朱超凡 | A kind of robot sufficient conversion equipment of wheel |
| CN110254550A (en) * | 2019-06-25 | 2019-09-20 | 福州大学 | It is a kind of to take turns walking combined quadruped robot and its working method |
| RU193267U1 (en) * | 2019-08-09 | 2019-10-21 | Тиберий Георгиевич Незбайло | Graviped Vehicle |
| CN110884587A (en) * | 2019-12-02 | 2020-03-17 | 太原工业学院 | Pneumatic quadruped robot |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6082475A (en) * | 1998-07-01 | 2000-07-04 | Ilkhanov; Azer | Robotic leg for traversing a path similar to that of a human leg during walking |
| CN1306188C (en) * | 2001-01-01 | 2007-03-21 | 熊介良 | 'Menneimasi pendulum arm' and stalking mechanical leg |
| CN2693603Y (en) * | 2004-04-09 | 2005-04-20 | 梁志 | Walking vehicle |
-
2009
- 2009-12-17 CN CN200910311743XA patent/CN101712340B/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2495780C1 (en) * | 2012-05-03 | 2013-10-20 | Открытое акционерное общество "Центральное конструкторское бюро "Титан" | Traveler |
| CN102745275A (en) * | 2012-07-19 | 2012-10-24 | 魏小钢 | Walking robot and walking method thereof |
| CN105944264A (en) * | 2016-02-19 | 2016-09-21 | 青岛克路德机器人有限公司 | Ground-touch determination method of auxiliary support apparatus of robot and the robot |
| RU172946U1 (en) * | 2016-03-10 | 2017-08-01 | Георгий Сергеевич Васильянов | A SYMMETRIC STEPPING PLATFORM BASED ON A SYMMETRIC THREE-YEAR MOTOR WITH A LINEAR-SLIDING SUPPORT AND INTEGRATED CONTROL DEVICE |
| CN107685785A (en) * | 2017-06-29 | 2018-02-13 | 济宁山云宇内机电科技有限公司 | A kind of sufficient formula walking robot |
| CN107685785B (en) * | 2017-06-29 | 2021-04-02 | 济宁山云宇内机电科技有限公司 | Foot type walking robot |
| CN108263507A (en) * | 2018-02-05 | 2018-07-10 | 朱超凡 | A kind of robot sufficient conversion equipment of wheel |
| CN110254550A (en) * | 2019-06-25 | 2019-09-20 | 福州大学 | It is a kind of to take turns walking combined quadruped robot and its working method |
| RU193267U1 (en) * | 2019-08-09 | 2019-10-21 | Тиберий Георгиевич Незбайло | Graviped Vehicle |
| CN110884587A (en) * | 2019-12-02 | 2020-03-17 | 太原工业学院 | Pneumatic quadruped robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101712340B (en) | 2011-12-07 |
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