CN102582711A - Body and linkage mechanism alternately-switched obstacle-surmounting traveling system - Google Patents
Body and linkage mechanism alternately-switched obstacle-surmounting traveling system Download PDFInfo
- Publication number
- CN102582711A CN102582711A CN2012100740365A CN201210074036A CN102582711A CN 102582711 A CN102582711 A CN 102582711A CN 2012100740365 A CN2012100740365 A CN 2012100740365A CN 201210074036 A CN201210074036 A CN 201210074036A CN 102582711 A CN102582711 A CN 102582711A
- Authority
- CN
- China
- Prior art keywords
- link gear
- obstacle
- wheel
- walking
- surmounting
- 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.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title abstract description 8
- 230000009184 walking Effects 0.000 claims description 72
- 238000005452 bending Methods 0.000 claims description 11
- 230000009194 climbing Effects 0.000 description 5
- 241000592274 Polypodium vulgare Species 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The invention relates to an alternate obstacle-surmounting traveling system, which is a traveling mechanism with high adaptability to terrains. The alternate obstacle-surmounting traveling system comprises a body and linkage mechanisms capable of being mounted on two sides of the body. The front end and the back end of the body are bent, anti-slip teeth can be arranged at the bottom of the body and the outsides of the two bent ends, one or more linkage obstacle-surmounting traveling mechanisms can be arranged on two sides of the body, the number of wheels used in the linkage mechanisms is unlimited, and locking devices are arranged at the front end and at the back end of the body, so that a plurality of bodies can be conveniently connected end to end and locked into a whole. The alternate obstacle-surmounting traveling system is the obstacle-surmounting traveling mechanism which is high in efficiency and reliability, simple in mechanism and high in obstacle-surmounting capacity, and can travel on smooth terrains and uneven terrains such as rugged mountains, marshes, river valleys and beaches at a high speed.
Description
Technical field
The invention belongs to mobile robot, barrier-exceeding vehicle field, but be specifically related to a kind of obstacle crossing walking system of self adaptation obstacle.
Background technology
The fast development of various fields such as, nuclear power industry explosive, military surveillance along with China's exploration rescue, aerospace, fire-fighting; Press for the mobile device of middle walking freely of a kind of ability lowered in field environment and complex-terrain (like disaster scene, earthquake ruins) and obstacle detouring, like robot, probe vehicles etc.The traveling gear of existing mobile device is broadly divided into: wheeled, crawler type, polypody, hybrid (hybrid like wheel-shoe, wheel-leg is hybrid) and special shape (like snakelike sliding type, polygon rolling type).Wherein polypody and special shape belong to bionical type of traveling gear mostly; Have very strong obstacle climbing ability and landform comformability; But the complicated in mechanical structure of these two types of traveling geaies, control difficulty are greatly, manoevreability is relatively poor relatively, are in the primary stage that research and development are used at present.Crawler belt has been proved to be a kind of traveling gear that can adapt to complex-terrain and harsh environment through 100 years of development; But its shortcoming also clearly: heavy, need Great Power Driver; Therefore, for portable or concerning power has the mobile device of strict restriction crawler belt and improper.Wheel just occurred before more than 3,000 years; Be considered to the highest traveling gear of energy conversion efficiency; Wheel has advantages such as light succinct, high-speed, high efficiency and control is simple makes it lasting, but wheel just seems powerless during in the face of rural atmosphere and complex-terrain.The present invention is a kind of obstacle detouring traveling gear that is very suitable for rural atmosphere and complex-terrain.
Summary of the invention
The objective of the invention is to provide a kind of mechanism succinct body and link gear reliable, that efficient is high, face of land comformability is good, obstacle climbing ability is strong alternately to switch obstacle crossing walking system, being mainly used in need be in regular landform and non-smooth landform such as rugged mountain region, the high speed at marsh, river valley, seabeach is walked.
Technical scheme of the present invention is following:
The obstacle crossing walking system that a kind of body and link gear alternately switch is made up of body and link gear.Said link gear is made up of the wheel and the obstacle detouring connecting rod of some, and said wheel has n, equal diameters, wherein n be integer and >=1, the more little obstacle climbing ability of n is strong more, n is big more, and the heavy burden ability is strong more.Be respectively equipped with knock hole on said wheel and the obstacle detouring connecting rod; Wheel and obstacle detouring connecting rod are connected together through knock hole by active pin shaft; The selection of the position of positioning hole on the said wheel should be close to the circumference of wheel to greatest extent, and the knock hole of each wheel arrives the distance unanimity of axle center hole separately; The axle center hole of said wheel connects the axle drive shaft of Power Drive Unit.When regular landform was walked, the walking mode of system was the running on wheels pattern, and alternately obstacle crossing walking system relies on the wheel walking.Said link gear symmetry is installed in the body left and right sides, and the two ends of link gear are longer than at the two ends of body.Said linked system has two kinds of walking forms, when smooth ground running, adopts the running on wheels pattern, when running into obstacle, automatically switches into the obstacle detouring walking mode.
When non-regular landform is walked; Its walking mode is the obstacle detouring walking mode; Its relies on the switching between link gear wheel and the obstacle detouring connecting rod to walk, or the mutual switching between Left-wing Federation's actuation mechanism-body-right link gear walks, or the switching between link gear-body is walked.
Said body rear and front end is provided with bending upwards, and the bottom of the outside of each bending and body all is provided with anti-slop serrations, and the left and right sides symmetry of body is equipped with one or more link gears.
Said obstacle detouring connecting rod rear and front end is provided with bending upwards, and its bottom is provided with anti-slop serrations.
The type of drive of said link gear is that an actuating device can drive one or more wheels.
Couple together by connecting device between said body and the link gear.
Said body is joined end to end by several, and the front and back of each body are provided with the latching device that is connected with other body, and each body bilateral symmetry is installed one group of link gear.
This replaces obstacle crossing walking system has two kinds of walking modes: running on wheels pattern and obstacle detouring walking mode.The obstacle detouring traveling gear can whether smoothly according to landform automatically switch between these two kinds of walking modes when walking, when rather level areas shape is walked, is the running on wheels pattern, automatically switches into the obstacle detouring walking mode when running into obstacle.
This walking principle that replaces obstacle crossing walking system is:
is under the situation of regular landform; In this obstacle crossing walking system link gear take the form of wheel shape, travel efficiency is identical with the traveling gear with same diameter wheel.
is under the situation of non-regular landform; When obstacle height hour, link gear just can clear the jumps by its intrinsic obstacle detouring mode; When obstacle reach a certain height, adopt array modes such as link gear-body-link gear or link gear-body alternately to ride on the obstacle, along with replacing of link gear and body, the running gear front portion just can clear the jumps.
having under the situation of obstacle; The running gear front portion clears the jumps; Be positioned on the obstacle; At this moment the position that is in obstacle detouring is the middle part of running gear; Owing on the bottom of running gear and the obstacle detouring connecting rod of link gear anti-slop serrations is arranged all, rely on actuating device like this, alternately obstacle crossing walking system just can clear the jumps smoothly.
having under the situation of obstacle; When alternately the body left and right sides of obstacle crossing walking system has one or more link gear respectively; Its obstacle detouring mode is all identical, and its difference is that every side has a plurality of link gears to need repeatedly to repeat the process of
.
when walking on the soft face of land when (like sandy beach, mire, snowfield etc.); The walking mode of this moment is identical with common landform walking mode; Only the obstacle detouring connecting rod can play the effect of certain dispersive pressure, and is higher than independent use wheel efficient when these landform are walked.
is under the higher walking environment of obstacle; Several alternately obstacle crossing walking systems are joined end to end, can improve obstacle performance.
The present invention has following characteristics:
1. alternately obstacle crossing walking system can have running on wheels pattern and obstacle detouring walking mode when walking, and between these two kinds of walking modes, automaticallyes switch neatly according to obstacle;
2. the timeliness rate of on the smooth hard face of land, walking approaches the common wheel of equal radius;
3. walking manner automaticallyes switch after running into obstacle, need not the Detection & Controling of control system, has improved reliability and stability;
4. the back walking manner that clears the jumps automaticallyes switch, and need not the Detection & Controling of control system, has improved reliability and stability;
5. alternately the driving control system of obstacle crossing walking system is succinctly efficient, and obstacle climbing ability is strong, and the landform comformability is good.
Description of drawings
Figure 1A, Figure 1B are the constructionals drawing that replaces a kind of body 1 in the obstacle crossing walking system;
Fig. 2 A, Fig. 2 B are the constructionals drawing that replaces a kind of link gear in the obstacle crossing walking system;
Fig. 3 A, Fig. 3 B are a kind of alternately obstacle crossing walking system single-piece front elevation and axonometric drawings;
Fig. 4 A, Fig. 4 B are the alternately front elevation and the axonometric drawings of obstacle crossing walking system of wheel number n=2 o'clock in the link gear;
Fig. 5 A, Fig. 5 B are the alternately front elevation and the axonometric drawings of obstacle crossing walking system of wheel number n=4 o'clock in the link gear;
Fig. 6 A, Fig. 6 B are wheel number n=2 o'clock series connected alternately front elevation and the axonometric drawings of obstacle crossing walking system in the link gear;
Fig. 7 A, Fig. 7 B are wheel number n=3 o'clock series connected alternately front elevation and the axonometric drawings of obstacle crossing walking system in the link gear;
Fig. 8 A, Fig. 8 B are wheel number n=4 o'clock series connected alternately front elevation and the axonometric drawings of obstacle crossing walking system in the link gear;
Fig. 9 A, Fig. 9 B are that bending is not established and front elevation and axonometric drawing that body is raised in the body two ends.
The practical implementation method
Referring to Fig. 1-Fig. 5, the alternately obstacle crossing walking system that the present invention proposes is made up of body 1 and link gear 6 and 9.Body 1 rear and front end can be provided with bending 2, and the outside of each bending 2 can be provided with anti-slop serrations 5, also can not establish bending 2 and body is raised, and the bottom of body also can be provided with anti-slop serrations 5.The left and right sides symmetry of body is equipped with one or more link gears 6 and 9, and the two ends of link gear are longer than at the two ends of body 1.Link gear 6 and 9 used in the system is made up of with obstacle detouring connecting rod 11 wheel 4 of some, and its wheel 4 quantity can be decided as required, and obstacle detouring connecting rod 11 rear and front ends can be provided with bending 8, and its bottom can be provided with anti-slop serrations 7.Link gear 6 and 9 type of drive are that an actuating device can drive one or more wheels.Lean on connecting device 10 to couple together between body 1 and link gear 6 and 9.
Referring to Fig. 6-Fig. 8, alternately the body 1 of obstacle crossing walking system can be to join end to end several, and the front and back of each body are provided with the latching device 10 that is connected with other body, and each body bilateral symmetry is installed at least one group of link gear 6 and 9.
It has two kinds of walking modes, and this traveling gear can automatically switch between two kinds of walking modes, and when regular landform was walked, its walking mode was the running on wheels pattern, and alternately obstacle crossing walking system relies on wheel 4 walkings.When non-regular landform is walked; Its walking mode is the obstacle detouring walking mode; It relies on the switching between link gear 6 and 9 wheels and the obstacle detouring connecting rod 11 to walk; Or the mutual switching between the link gear 6-body 1-link gear 9 walks, or the switching between link gear 6 and the 9-body 1 is walked more.
Alternately obstacle crossing walking system according to the invention is suitable for walking in rural atmosphere and the complex-terrain, and link gear quantity used in the system is not limit, and the quantity of used wheel is not limit in the link gear.
Installation is somebody's turn to do when replacing obstacle crossing walking system, only need link gear be fixed on the body to get final product.
It is identical with common wheel walking manner when alternately obstacle crossing walking system is walked on the smooth hard face of land; Need not control system during obstacle detouring and detect and control, whether this obstacle crossing walking system can basis have obstacle automatic switchover wheel walking manner.
For the higher walking environment of obstacle, several alternately obstacle crossing walking systems are joined end to end.
For the identical wheel of diameter, the link gear when when obstacle climbing ability is had relatively high expectations, selecting wheel subnumber n=1 for use is selected the many link gears of wheel subnumber for use when load-carrying capacity is had relatively high expectations.
Claims (6)
1. the obstacle crossing walking system that alternately switches of body and link gear is made up of body (1) and link gear (6 and 9), it is characterized in that:
Said link gear (6 and 9) is made up of the wheel (4) and the obstacle detouring connecting rod (11) of some; Said wheel has n, equal diameters, wherein n be integer and >=1; Be respectively equipped with knock hole on said wheel and the obstacle detouring connecting rod; Wheel and obstacle detouring connecting rod are connected together through knock hole by active pin shaft, the selection of the position of positioning hole on the said wheel should be close to the circumference of wheel to greatest extent, and the knock hole of each wheel arrives the distance unanimity of axle center hole separately; The axle center hole of said wheel connects the axle drive shaft of Power Drive Unit;
Said link gear symmetry is installed in body (1) left and right sides, and the two ends of being longer than link gear, the two ends of body (1);
When regular landform was walked, the walking mode of said system was the running on wheels pattern, and said system relies on wheel (4) walking; It is said when non-regular landform is walked; The walking mode of system is the obstacle detouring walking mode; It relies on the wheel of link gear and the switching between the obstacle detouring connecting rod to walk; Or the mutual switching between link gear (6)-body (1)-link gear (9) walks, or the switching between link gear (6 and 9)-body (1) is walked.
2. the obstacle crossing walking system that body according to claim 1 and link gear alternately switch is characterized in that: body (1) rear and front end is provided with bending (2) upwards, and the bottom of outside of each bending (2) and body all is provided with anti-slop serrations (5).
3. the obstacle crossing walking system that body according to claim 1 and link gear alternately switch is characterized in that: said obstacle detouring connecting rod (11) rear and front end is provided with bending (8) upwards, and its bottom is provided with anti-slop serrations (7).
4. the obstacle crossing walking system that body according to claim 1 and link gear alternately switch, it is characterized in that: the type of drive of said link gear is that an actuating device can drive one or more wheels.
5. the obstacle crossing walking system that body according to claim 1 and link gear alternately switch is characterized in that: lean on connecting device (10) to couple together between said body (1) and the link gear (6 and 9).
6. the obstacle crossing walking system that body according to claim 1 and link gear alternately switch; It is characterized in that: said body (1) has several; They join end to end; The front and back of each body are provided with the latching device (10) that is connected with other body, and each body left and right sides symmetry is installed at least one group of link gear (6) (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210074036.5A CN102582711B (en) | 2012-03-20 | 2012-03-20 | Body and linkage mechanism alternately-switched obstacle-surmounting traveling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210074036.5A CN102582711B (en) | 2012-03-20 | 2012-03-20 | Body and linkage mechanism alternately-switched obstacle-surmounting traveling system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102582711A true CN102582711A (en) | 2012-07-18 |
| CN102582711B CN102582711B (en) | 2014-07-30 |
Family
ID=46472112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210074036.5A Expired - Fee Related CN102582711B (en) | 2012-03-20 | 2012-03-20 | Body and linkage mechanism alternately-switched obstacle-surmounting traveling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102582711B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602470A (en) * | 2012-03-21 | 2012-07-25 | 西南大学 | Barrier-crossing traveling system capable of alternately switching linkage mechanisms |
| CN107458497A (en) * | 2017-09-18 | 2017-12-12 | 邓航 | Jumping vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3747717A (en) * | 1971-01-12 | 1973-07-24 | J Jellinek | Vehicle having plural modes of propulsion |
| US20070235239A1 (en) * | 2004-05-01 | 2007-10-11 | Fukashi Urakami | Device Movable Along Surface of Object |
| CN201136558Y (en) * | 2007-11-21 | 2008-10-22 | 中国科学院沈阳自动化研究所 | All-terrain mobile robot |
| CN101554895A (en) * | 2009-05-14 | 2009-10-14 | 上海交通大学 | Travelling and folding system of moon rover |
| CN102107685A (en) * | 2011-01-12 | 2011-06-29 | 西南大学 | Six-foot robot with eccentric wheel legs |
| CN102211625A (en) * | 2011-04-29 | 2011-10-12 | 上海交通大学 | Support rod type obstacle detouring wheel |
-
2012
- 2012-03-20 CN CN201210074036.5A patent/CN102582711B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3747717A (en) * | 1971-01-12 | 1973-07-24 | J Jellinek | Vehicle having plural modes of propulsion |
| US20070235239A1 (en) * | 2004-05-01 | 2007-10-11 | Fukashi Urakami | Device Movable Along Surface of Object |
| CN201136558Y (en) * | 2007-11-21 | 2008-10-22 | 中国科学院沈阳自动化研究所 | All-terrain mobile robot |
| CN101554895A (en) * | 2009-05-14 | 2009-10-14 | 上海交通大学 | Travelling and folding system of moon rover |
| CN102107685A (en) * | 2011-01-12 | 2011-06-29 | 西南大学 | Six-foot robot with eccentric wheel legs |
| CN102211625A (en) * | 2011-04-29 | 2011-10-12 | 上海交通大学 | Support rod type obstacle detouring wheel |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602470A (en) * | 2012-03-21 | 2012-07-25 | 西南大学 | Barrier-crossing traveling system capable of alternately switching linkage mechanisms |
| CN102602470B (en) * | 2012-03-21 | 2016-09-14 | 西南大学 | A kind of obstacle crossing walking system of link gear and link gear alternately switching |
| CN107458497A (en) * | 2017-09-18 | 2017-12-12 | 邓航 | Jumping vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102582711B (en) | 2014-07-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101774409B (en) | Composite wheel type walking mechanism adaptive to complex seabed terrain | |
| CN102310710B (en) | Four-bar linkage wheel carrier suitable for diameter-variable semi-walking wheel | |
| CN208096908U (en) | Crawler-type moving mechanism | |
| CN100343081C (en) | Intelligent variable diameter semi walking wheel | |
| CN102490803B (en) | Wheel-type linked barrier-crossing traveling mechanism | |
| EP3345811A1 (en) | Walking mechanism and electric power-assisted vehicle and toy equipped with same | |
| CN101954836A (en) | Diameter-variable wheel for automatically adapting to road surface | |
| CN207595086U (en) | A kind of deformable caterpillar robot chassis suspension | |
| CN107618582B (en) | The hybrid 4-wheel driven car of foot wheel crawler belt and its movement technique with dry adhesion and hook | |
| CN201339207Y (en) | Multifunctional snow pressing vehicle | |
| CN102874341A (en) | Wheel-leg mixed type moving device | |
| CN204488926U (en) | Diagonal angle differential steering four-wheeled | |
| CN102582711B (en) | Body and linkage mechanism alternately-switched obstacle-surmounting traveling system | |
| CN103568698B (en) | Multi-class geographical environment walking pedal wheel | |
| CN103863425A (en) | Triangular track wheel | |
| CN202225937U (en) | Multi-foot crawler | |
| CN203005587U (en) | Triangular crawler wheel | |
| CN102897240A (en) | Driving wheel combined mechanism | |
| CN102602470A (en) | Barrier-crossing traveling system capable of alternately switching linkage mechanisms | |
| CN202242824U (en) | Six-plate wheeled moving mechanism | |
| CN203888923U (en) | Novel obstacle-surmounting robot | |
| CN203888535U (en) | Novel obstacle-surmounting wheel | |
| CN104827837A (en) | Wheel elastic track | |
| CN111645460B (en) | Deformable obstacle crossing wheel based on lantern mechanism | |
| CN204488998U (en) | A kind of leggy link wheel driver train |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140730 |