CN102582711B - Body and linkage mechanism alternately-switched obstacle-surmounting traveling system - Google Patents
Body and linkage mechanism alternately-switched obstacle-surmounting traveling system Download PDFInfo
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- CN102582711B CN102582711B CN201210074036.5A CN201210074036A CN102582711B CN 102582711 B CN102582711 B CN 102582711B CN 201210074036 A CN201210074036 A CN 201210074036A CN 102582711 B CN102582711 B CN 102582711B
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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, be specifically related to a kind of obstacle crossing walking system that can self adaptation obstacle.
Background technology
Fast development along with various fields such as China's exploration rescue, aerospace, fire-fighting are explosive, nuclear power industry, military surveillances, in the urgent need to a kind of can lowered in field environment and complex-terrain (as disaster scene, earthquake ruins) in the mobile device of freely walking with obstacle detouring, as robot, probe vehicles etc.The traveling gear of existing mobile device is broadly divided into: wheeled, crawler type, polypody, hybrid (as hybrid in taken turns-carrying out, wheel-leg is hybrid) and special shape (as snakelike sliding type, polygon rolling type).Wherein polypody and special shape belong to bionical class traveling gear mostly, there is very strong obstacle climbing ability and landform comformability, but the complicated in mechanical structure of this two classes traveling gear, control difficulty greatly, manoevreability is relatively poor, is at present the primary stage of research and development application.Crawler belt has been proved to be a kind of traveling gear that can adapt to complex-terrain and harsh environment through the development of more than 100 years, 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 improper.Wheel just occurred before more than 3,000 years, be considered to the traveling gear that energy conversion efficiency is the highest, wheel has light succinct, high-speed, high efficiency and control is simple etc. that advantage makes it lasting, but wheel just seems helpless during in the face of rural atmosphere and complex-terrain.The present invention is a kind of barrier-crossing traveling mechanism that is very suitable for rural atmosphere and complex-terrain.
Summary of the invention
The object of the invention is to provide a kind of mechanism succinct body and link gear reliable, that efficiency is high, earth's surface comformability is good, obstacle climbing ability is strong alternately to switch obstacle crossing walking system, be mainly used in walking as the high speed at rugged mountain region, marsh, river valley, seabeach in regular landform and non-smooth landform.
Technical scheme of the present invention is as follows:
The obstacle crossing walking system that body and link gear alternately switch, is comprised of body and link gear (6) (9).Described link gear is comprised of wheel and the obstacle detouring connecting rod of some, and described wheel has n, equal diameters, wherein n be integer and >=1, the less obstacle climbing ability of n is stronger, n is larger, and heavy burden ability is stronger.On described wheel and obstacle detouring connecting rod, be respectively equipped with knock hole, by active pin shaft, by knock hole, just obstacle detouring connecting rod and all wheels connect together, and obstacle detouring connecting rod is connected to the same side of wheel, the selection of the position of positioning hole on described wheel should be close to the circumference of wheel to greatest extent, and the knock hole of each wheel is consistent to the distance of axle center hole separately; The axle center hole of described wheel connects the axle drive shaft of Power Drive Unit.When regular landform walking, the walking mode of system is running on wheels pattern, and alternately obstacle crossing walking system relies on wheel walking.Described link gear symmetry is arranged on the body left and right sides, and the two ends of link gear are longer than at the two ends of body.Described linked system has two kinds of walking forms, adopts running on wheels pattern when smooth ground running, automatically switches into obstacle detouring walking mode when running into obstacle.
When non-regular landform walking, its walking mode is obstacle detouring walking mode, its relies on the switching between link gear wheel and 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.
Described body rear and front end is provided with bending upwards, and the outside of each bending and the bottom of body be provided with anti-slop serrations, and the left and right sides symmetry of body is equipped with one or more link gears.
Described 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 described link gear is that an actuating device can drive one or more wheels.
Between described body and link gear, by connecting device, couple together.
Described body is joined end to end by several, the latching device that the front and back of each body are provided with body is connected in addition, and each body bilateral symmetry is installed one group of link gear.
This replaces obstacle crossing walking system two kinds of walking modes: running on wheels pattern and obstacle detouring walking mode.Barrier-crossing traveling mechanism can automatically switch according to whether smooth landform is when walking between these two kinds of walking modes, when rather level areas shape is walked, is running on wheels pattern, automatically switches into obstacle detouring walking mode while running into obstacle.
This alternately walking principle of obstacle crossing walking system be: 1 the in the situation that 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.2 the in the situation that 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 the array modes such as link gear-body-link gear or link gear-body alternately to ride on obstacle, along with replacing of link gear and body, running gear front portion just can clear the jumps.3 in the situation that having obstacle, running gear front portion clears the jumps, be positioned on obstacle, at this moment the position in obstacle detouring is the middle part of running gear, owing to having anti-slop serrations on the bottom of running gear and the obstacle detouring connecting rod of link gear, rely on like this actuating device, alternately obstacle crossing walking system just can clear the jumps smoothly.4 in the situation that having obstacle, and when alternately there is one or more link gear the body left and right sides of obstacle crossing walking system respectively, its obstacle detouring mode is all identical, and its difference is that every side has a plurality of link gears need repeatedly repeat 23 process.5 when walking is on soft earth's surface when (as sandy beach, muddy, snowfield etc.), walking mode is now identical with common landform walking mode, only obstacle detouring connecting rod can play the effect of certain dispersive pressure, higher than independent use wheel efficiency when these landform are walked.6 under the higher walking environment of obstacle, and several alternately obstacle crossing walking systems are joined end to end, and 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, automatically switches neatly according to obstacle;
2. the timeliness rate of walking on smooth hard earth's surface is close to the common wheel of equal radius;
3. after running into obstacle, walking manner automatically switches, and the Detection & Controling without control system, have improved reliability and stability;
4. after clearing the jumps, walking manner automatically switches, and the Detection & Controling without control system, have 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 landform comformability is good.
Accompanying drawing explanation
Figure 1A, Figure 1B are the constructionals drawing that replaces a kind of body 1 in obstacle crossing walking system;
Fig. 2 A, Fig. 2 B are the constructionals drawing that replaces a kind of link gear in obstacle crossing walking system;
Fig. 3 A, Fig. 3 B are a kind of alternately front elevation and axonometric drawings of obstacle crossing walking system integral body;
Fig. 4 A, Fig. 4 B are alternately front elevation and the axonometric drawings of obstacle crossing walking system during wheel number m=2 in link gear;
Fig. 5 A, Fig. 5 B are alternately front elevation and the axonometric drawings of obstacle crossing walking system during wheel number m=4 in link gear;
Fig. 6 A, Fig. 6 B are alternately front elevation and the axonometric drawings of obstacle crossing walking system of connecting during wheel number m=2 in link gear;
Fig. 7 A, Fig. 7 B are alternately front elevation and the axonometric drawings of obstacle crossing walking system of connecting during wheel number m=3 in link gear;
Fig. 8 A, Fig. 8 B are alternately front elevation and the axonometric drawings of obstacle crossing walking system of connecting during wheel number m=4 in 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 body two ends.
Specific implementation method
Referring to Fig. 1-Fig. 5, the alternately obstacle crossing walking system that the present invention proposes is comprised 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.In system, link gear 6 used and 9 wheels 4 by some and obstacle detouring connecting rod 11 form, and its wheel 4 quantity can be determined 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.Between body 1 and link gear 6 and 9, by connecting device 10, couple together.
Referring to Fig. 6-Fig. 8, alternately the body 1 of obstacle crossing walking system can be to join end to end several, the latching device 10 that the front and back of each body are provided with body is connected in addition, 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 walking, its walking mode is running on wheels pattern, and alternately obstacle crossing walking system relies on wheel 4 walkings.When non-regular landform walking, its walking mode is obstacle detouring walking mode, it relies on the switching between link gear 6 and 9 wheels and obstacle detouring connecting rod 11 to walk, or the mutual switching between link gear 6-body 1-link gear 9 walks, or more the switching between link gear 6 and 9-body 1 is walked.
Alternately obstacle crossing walking system of the present invention is suitable for walking in rural atmosphere and complex-terrain, and link gear quantity used in system is not limit, and in link gear, the quantity of wheel used is not limit.
Install in the time of should replacing obstacle crossing walking system, only link gear need be fixed on body.
It is identical with common wheel walking manner when alternately obstacle crossing walking system is walked on smooth hard earth's surface; During obstacle detouring, without control system, 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 while selecting wheel subnumber n=1 when obstacle climbing ability is had relatively high expectations is selected the many link gears of wheel subnumber when load-carrying capacity is had relatively high expectations.
Claims (6)
1. the obstacle crossing walking system that body and link gear alternately switch, is comprised of body (1) and link gear (6 and 9), it is characterized in that:
Described link gear (6 and 9) is comprised of wheel (4) and the obstacle detouring connecting rod (11) of some, described wheel has n, equal diameters, wherein n be integer and >=1, on described wheel and obstacle detouring connecting rod, be respectively equipped with knock hole, by active pin shaft, by knock hole, obstacle detouring connecting rod and all wheels are connected together, and obstacle detouring connecting rod is connected to the same side of wheel, the selection of the position of positioning hole on described wheel should be close to the circumference of wheel to greatest extent, and the knock hole of each wheel is consistent to the distance of axle center hole separately; The axle center hole of described wheel connects the axle drive shaft of Power Drive Unit;
Described link gear symmetry is arranged on 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 walking, the walking mode of described system is running on wheels pattern, and described system relies on wheel (4) walking; When non-regular landform walking, the walking mode of system is obstacle detouring walking mode, it relies on the wheel of link gear and the switching between 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)-bodies (1) is walked.
2. the obstacle crossing walking system that body according to claim 1 and link gear alternately switch, it is characterized in that: body (1) rear and front end is provided with bending (2) upwards, and the outside of each bending (2) and the bottom of body are 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: described 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, is characterized in that: the type of drive of described 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: between described body (1) and link gear (6 and 9), by connecting device (10), couple together.
6. the obstacle crossing walking system that body according to claim 1 and link gear alternately switch, it is characterized in that: described body (1) has several, they join end to end, the latching device (10) that the front and back of each body are provided with body is connected in addition, the symmetrical at least one group of link gear (6 and 9) of installing in each body left and right sides.
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 |
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| Publication Number | Publication Date |
|---|---|
| CN102582711A CN102582711A (en) | 2012-07-18 |
| CN102582711B true CN102582711B (en) | 2014-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210074036.5A Expired - Fee Related CN102582711B (en) | 2012-03-20 | 2012-03-20 | Body and linkage mechanism alternately-switched obstacle-surmounting traveling system |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3747717A (en) * | 1971-01-12 | 1973-07-24 | J Jellinek | Vehicle having plural modes of propulsion |
| CN102107685A (en) * | 2011-01-12 | 2011-06-29 | 西南大学 | Six-foot robot with eccentric wheel legs |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4543278B2 (en) * | 2004-05-01 | 2010-09-15 | ウラカミ合同会社 | Device that can move along the surface of an 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 |
| CN101554895B (en) * | 2009-05-14 | 2011-06-08 | 上海交通大学 | Travelling and folding system of moon rover |
| CN102211625B (en) * | 2011-04-29 | 2012-09-19 | 上海交通大学 | Support rod type obstacle detouring wheel |
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2012
- 2012-03-20 CN CN201210074036.5A patent/CN102582711B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3747717A (en) * | 1971-01-12 | 1973-07-24 | J Jellinek | Vehicle having plural modes of propulsion |
| CN102107685A (en) * | 2011-01-12 | 2011-06-29 | 西南大学 | Six-foot robot with eccentric wheel legs |
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