CN102700644A - Wheel and foot combined all-terrain robot running device - Google Patents
Wheel and foot combined all-terrain robot running device Download PDFInfo
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- CN102700644A CN102700644A CN2012101872395A CN201210187239A CN102700644A CN 102700644 A CN102700644 A CN 102700644A CN 2012101872395 A CN2012101872395 A CN 2012101872395A CN 201210187239 A CN201210187239 A CN 201210187239A CN 102700644 A CN102700644 A CN 102700644A
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Abstract
The invention discloses a wheel and foot combined all-terrain robot running device. The device comprises three motion unit groups, namely a first large arm group, a second large arm group and a triangular planetary arm group, wherein the first large arm group is connected with the second large arm group through a stepped shaft in a first large arm stepped shaft group; the second large arm group is connected with the triangular planetary arm group through a stepped shaft in the large arm stepped shaft group; the whole device has three gear sets; and the three gear sets are parallelly distributed among the three motion unit groups and are driven, so that functions of the device are realized. By the robot running device, a wheel running mode and a foot running mode are combined, so that the device has extremely high adaptability and passing performance, and relatively high running speed of the robot running device can be guaranteed; and besides, the device is simple and reliable in structure and high in flexibility and applicability.
Description
Technical field
What the present invention relates to is a kind of device of robot probe's field of engineering technology, specifically is a kind of full landform robot ride of sufficient convolution device of taking turns.
Background technology
Along with the progress of science and technology, the development of society, the field that people probed into is in continuous expansion; The effect of robot becomes more and more important in these activities; Especially the special landform that a lot of mankind can't involve in, such as the scene after the earthquake, the surface of mars exploration.
So in the last few years, increasing people began to imagine and invented the possible walking manner of robot, but principal mode can be summed up as two types, promptly wheeled and leg formula.Pure wheeled owing to relying on wheel to advance, so moving velocity is fast, easy operation control; But with the wheel is that main body also causes its road pavement to be had relatively high expectations, and is prone to become bogged in the swamp, and it is poor to keep away the barrier obstacle climbing ability.And the general two joint connecting rods series connection forms that adopt of legged mobile robot, a joint is established in the centre, and the motion of its imitation people leg can across obstacle, again because big with contact area of ground, so the special road surfaces such as sand ground, marsh of can passing by; But the speed that also exists simultaneously is slow and shortcoming such as difficult control.Wheel that we invented foot combines the go robot ride device of the robot ride device mode of motion that to be a kind of employing combine both of full landform; Overcome pure wheeled barrier obstacle climbing ability difference and slow, the rambunctious shortcoming of pure leg formula speed of keeping away; It is fast through obstacle belt and moving velocity to change places, and the strengths and weaknesses of both mechanisms is complementary, and application prospect is wide; The alternative overwhelming majority's robot ride device especially requires than higher robot the extreme terrain crossing ability.
Literature search through to prior art is found; People such as Liu Aihua are in " robot " 2008 the 06th phases; Write articles " a kind of take turns walking combined wall climbing robot mechanism modeling and analysis "; This article has been introduced a kind of robot form Design of device scheme of taking turns the foot combination, and has accomplished the three-dimensional modeling to it.But this robot ride device still relies on the mode of walking to advance and through face variously, moving velocity is slower, and its crossing ability can not realize that efficient is lower from main regulation, so can not be applicable to occasion widely.
Summary of the invention
The objective of the invention is to overcome the deficiency on the existing robots common form device, provide a kind of effective failure-free to take turns the full landform robot ride of sufficient convolution device, higher autonomous crossing ability is not only arranged; And moving velocity is very fast; Can fast and effeciently pass through Different Ground, and simple for structure, and it is flexible to move; Cost of manufacture is low, is applicable to multiple occasion.
The present invention realizes through following technical scheme:
A kind of foot of taking turns of the present invention combines the full landform robot ride device that goes; Comprising three moving cell groups, is respectively first arm group, second largest arm group; Triangle planet arm group; Wherein, first arm group is connected with second largest arm group through the stepped shaft in the first arm stepped shaft group, and second largest arm group is connected with triangle planet arm group through the stepped shaft in the big arm stepped shaft group; Whole device has parallel being distributed between this three covers moving cell group of three sleeve gear groups, and realizes transmission, thereby realizes the function of this device.
Described first arm group comprises first arm sidewall, gear, first arm stepped shaft group; Wherein, first arm stepped shaft group comprises: first stepped shaft, second stepped shaft and the 3rd stepped shaft; Connect three gears through bearing on first stepped shaft, connect two gears through bearing on second stepped shaft, connect two gears through bearing on the 3rd stepped shaft; Parallelly in the stepped shaft both sides two first arm sidewalls have been connected; And fastening with nut at each place, stepped shaft end, wherein, the gear on first stepped shaft outside first arm sidewall and this sidewall is connected.Gear on the stepped shaft belongs to three sleeve gear group driving systems respectively.
Described second largest arm group comprises second largest arm sidewall, gear, second largest arm stepped shaft group; The ladder axle sleeve, wherein, second largest arm stepped shaft group comprises: the four-step axle; The 5th stepped shaft, the four-step axle connects a gear through bearing, and the 5th stepped shaft connects a gear through the stepped shaft cover; The ladder axle sleeve is fastening with the 5th stepped shaft and gear respectively, and two second largest arm sidewalls are connected outside the ladder axle sleeve, wherein abreast; Be connected near an end of the second largest arm sidewall of triangle planet arm group and a gear on the 3rd stepped shaft in the first arm group, the other end is connected with the 5th stepped shaft through flange bearing, and another second largest arm sidewall one end passes through bearing and links to each other with the 3rd stepped shaft; The other end links to each other with the 5th stepped shaft through flange bearing, and carries out fastening with bolt and nut at each place, stepped shaft end.
Described triangle planet arm group comprises triangle planet arm sidewall, triangle planet arm stepped shaft group, ladder axle sleeve; Gear, and pulley, its intermediate cam planet arm stepped shaft group comprises: the 6th stepped shaft; The 7th stepped shaft, two triangle planet arm sidewalls link to each other with the 5th stepped shaft through flange bearing, and a gear links to each other with the 5th stepped shaft through the ladder axle sleeve; This ladder axle sleeve is connected with the 5th stepped shaft and this gear respectively, and the 6th stepped shaft links to each other with gear through bearing, and the 7th stepped shaft links to each other with gear and pulley through bearing; And gear and pulley on the 7th stepped shaft are connected; And carry out fasteningly in the end of each stepped shaft, wherein, gear in the triangle planet arm group and the gear in the second largest arm group belong to same set of gear cluster driving system.
Be furnished with and the coaxial screw of this second largest arm sidewall in the described first arm group with on the gear that second largest arm sidewall is connected, and link to each other, make second largest arm and this gear rotate synchronously around the 3rd stepped shaft through bolt and nut.
Pulley on the 7th stepped shaft of described triangle planet arm group has coaxial screw with gear, links to each other through bolt and nut, make pulley and this gear rotate synchronously around the 7th stepped shaft, and diameter of pulley is greater than gear diameter.
Compared with prior art; The invention has the beneficial effects as follows: can both keep very high adaptivity of this device and crossing ability through the wheeled and sufficient formula mode of going is combined, and can guarantee its moving velocity faster again, and this apparatus structure be simple and reliable; Alerting ability is high, and applicability is strong.
Description of drawings
Fig. 1 is that apparatus of the present invention main assembly connects scheme drawing;
Fig. 2 is that the composition of first arm group connects scheme drawing;
Fig. 3 is that the composition of second largest arm group connects scheme drawing;
Fig. 4 is that the composition of triangle planet arm group connects scheme drawing;
Among the figure: gear 1, gear 2, gear 3, gear 4, first arm sidewall 5, the seven stepped shaft 6, pulley 7; Gear 8, the six stepped shaft 9, the five stepped shaft 10, triangle planet arm sidewall 11, ladder axle sleeve 12, gear 13, triangle planet arm sidewall 14; Gear 15, second largest arm sidewall 16, ladder axle sleeve 17, gear 18, second largest arm sidewall 19, gear 20, the four-step axles 21; Gear 22, the three stepped shaft 23, first arm sidewall 24, gear 25, the second stepped shaft 26, gear 27, the first stepped shaft 28.
The specific embodiment
Below in conjunction with accompanying drawing instance of the present invention is done detailed explanation: present embodiment provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention
Embodiment
Like Fig. 1, this instance comprises three moving cell groups, is respectively first arm group; Second largest arm group, triangle planet arm group connects mutually between per two continuous moving cell groups; Wherein, First arm group is connected with second largest arm group through stepped shaft, and the adjacent gear on second largest arm sidewall and the 3rd stepped shaft is connected, and second largest arm group is connected with triangle planet arm group through the 5th stepped shaft.Whole device has parallel being distributed between this three covers moving cell group of three sleeve gear groups, and realizes transmission, thereby realizes the function of this device.
Among Fig. 1, first stepped shaft 28 through bearing respectively with gear 1, gear 2; Gear 27 is located mutually, is connected with first arm sidewall 5,24 respectively simultaneously, and wherein first arm sidewall 24 is coaxial fixing about first stepped shaft 28 with the gear 27 in its outside; And this gear 27 is connected with first stepped shaft 28 through bearing; Second stepped shaft 26 through bearing respectively with gear 3, gear 25 connects and is connected with first arm sidewall 5,24, the 3rd stepped shaft 23 pass through bearing respectively with gear 4; Gear 22 connect and with first arm sidewall 5, first arm sidewall 24 connects; Second largest arm sidewall 16 near triangle planet arm group is fastened through the gear 4 on bolt group and first arm the 3rd stepped shaft 23; Another second largest arm sidewall 19 is connected through flange bearing with the 3rd stepped shaft 23; Four-step axle 21 links to each other with gear 20 through bearing; And link to each other with second largest arm sidewall 16,19 respectively; The 5th stepped shaft 10 is through ladder axle sleeve 17 and 18 coaxial fastening linking to each other of gear, and fastening ladder axle sleeve 17 and the 5th stepped shaft 10 rotate gear 18 and the 5th stepped shaft 10 synchronously simultaneously; The 5th stepped shaft 10 is connected with triangle planet arm sidewall 11,14 respectively through flange bearing; Simultaneously through ladder axle sleeve 12 and gear 13 Joints that are in contact with it; Make the 5th stepped shaft 10 rotate synchronously with this gear 13, the 6th stepped shaft 9 is connected with gear 15 through bearing, and the 7th stepped shaft 6 is connected with gear 8 and pulley 7 through bearing; Pulley 7 is fastening with gear 8, makes pulley 7 and gear 8 rotate synchronously.
As shown in Figure 2, described first arm group comprises first arm sidewall 5,24, gear 1,2,3,4,22,25,27, the first stepped shaft 28; Second stepped shaft 26 and the 3rd stepped shaft 23, wherein, first stepped shaft 28 is through bearing difference connection gear 1, gear 2; Gear 27, the second stepped shaft 26 are through bearing difference connection gear 3, gear 25; The 3rd stepped shaft 23 is through bearing difference connection gear 4, and gear 22 is at first stepped shaft 28; Second stepped shaft, 26, the three stepped shaft, 23 both sides are with first arm sidewall 5 respectively, first arm sidewall 24; And fastening with nut at each place, stepped shaft end, the gear 27 outside the wherein first arm sidewall 24 and on first stepped shaft 28 outside this sidewall passes through bolt, and nut is connected.Wherein, the gear 1 on first stepped shaft 28, gear 2, gear 28 belong to three sleeve gear group driving systems respectively.
As shown in Figure 3, described second largest arm group comprises second largest arm sidewall 16,19, gear 18,20; Four-step axle 21, the five stepped shaft 10, ladder axle sleeve 17; Wherein, four-step axle 21 passes through ladder axle sleeve 17 connection gear 18 through bearing connection gear 20, the five stepped shaft 10; Ladder axle sleeve 17 is fastening with gear 18 with the 5th stepped shaft 10 simultaneously, second largest arm sidewall 16, and second largest arm sidewall 19 is connected outside the four-step axle 21 abreast; Wherein, the gear 4 on the 3rd stepped shaft 23 in an end of second largest arm sidewall 16 and the first arm group is connected, and the other end is connected with the 5th stepped shaft 10 through flange bearing; Second largest arm sidewall 19 1 ends link to each other with the 3rd stepped shaft 23 through bearing, and the other end links to each other with the 5th stepped shaft 10 through flange bearing, and carry out fastening with bolt and nut at each place, stepped shaft end.
In the described first arm group with gear 4 that second largest arm sidewall is connected on be furnished with this second largest arm sidewall around the coaxial screw of the 3rd stepped shaft 23, and link to each other through bolt and nut, make second largest arm and gear 4 rotate synchronously around the 3rd stepped shaft 23.
As shown in Figure 4, described triangle planet arm group comprises triangle planet arm sidewall 11,14, the six stepped shaft 9; The 7th stepped shaft 6, ladder axle sleeve 12, gear 8,13,15; And pulley 7, wherein, triangle planet arm sidewall 11 links to each other with the 5th stepped shaft 10 respectively through flange bearing with triangle planet arm sidewall 14; Gear 13 links to each other with the 5th stepped shaft 10 through ladder axle sleeve 12, and this ladder axle sleeve 12 is connected with gear 13 respectively at the 5th stepped shaft 10, and the 6th stepped shaft 9 links to each other with gear 15 through bearing; The 7th stepped shaft 6 links to each other with gear 8 and pulley 7 through bearing, and the gear on the 7th stepped shaft 68 and pulley 7 be connected, and carries out fastening with nut in the end of each stepped shaft; Wherein, all gears 8,13,15 in the triangle planet arm group and the gear 18 in the second largest arm group belong to same set of gear cluster driving system.
Pulley 7 on the 7th stepped shaft 6 of described triangle planet arm group has coaxial screw with gear 8, links to each other through bolt and nut, make pulley and this gear rotate synchronously around the 7th stepped shaft 6, and pulley 7 diameters is greater than gear 8 diameters.
The working process of present embodiment:
In the mechanical arm group of present embodiment, form by three cover moving cells: first arm group, second largest arm group, triangle planet arm group.Three cover moving cell cooperation are accomplished the walking of entire mechanism.This mechanism links to each other with the robot health through first stepped shaft 28, and gear 1, gear 2, gear 27 rotate action and the walking of controlling entire mechanism respectively as three power receiving terminals through gear.Wherein, when gear 27 rotated, entire mechanism was rotated around first stepped shaft 28; When gear 2 rotated, second largest arm group and triangle planet arm group were rotated around the 3rd stepped shaft 23 together; When gear 1 rotates, through the transmission of gear cluster, make that three pulleys in triangle planet arm group outer ring rotate synchronously, make entire mechanism walk.Wherein, Triangle planet arm group can freely be rotated around the 5th stepped shaft 10; And do not receive gear 1 to belong to the influence of gear transmission group transmission; So when mechanism runs into obstacle or gully in the process of moving, can when advancing, the upset through triangle planet arm group realize crossing ability to obstacle.Simultaneously, gear 2,27 of gears respectively the gear transmission group can regulating mechanism height and attitude, thereby can better adapt to different landform, on the basis of triangle planet arm group throwing over barrier, improve the carrying capacity of this mechanism.
Use this wheel foot to combine the full landform robot ride device that goes; Can make robot that various complex environments are had good carrying capacity, and keep higher speed, and drive motor can be arranged in the place, end of first stepped shaft; Motion flexibly; Physical construction is simple, and is workable, and applicability is wide.
Although content of the present invention has been done detailed introduction through above-mentioned preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.After those skilled in the art have read foregoing, for multiple modification of the present invention with to substitute all will be conspicuous.Therefore, protection scope of the present invention should be limited appended claim.
Claims (9)
1. a wheel foot combines the full landform robot ride device that goes; It is characterized in that comprising three moving cell groups, is respectively first arm group, second largest arm group; Triangle planet arm group; Wherein, first arm group is connected with second largest arm group through the stepped shaft in the first arm stepped shaft group, and second largest arm group is connected with triangle planet arm group through the stepped shaft in the big arm stepped shaft group; Whole device has parallel being distributed between this three covers moving cell group of gear cluster that three covers are realized transmission.
2. the foot of taking turns according to claim 1 combines the full landform robot ride device that goes; It is characterized in that described first arm group comprises first arm sidewall (5,24), gear (1,2,3,4,22,25,27), first stepped shaft (28); Second stepped shaft (26) and the 3rd stepped shaft (23); Wherein: first stepped shaft (28) is through bearing difference connection gear (1,2,27), and second stepped shaft (26) is through bearing difference connection gear (3,25), and the 3rd stepped shaft (23) passes through bearing connection gear (4,22) respectively; In first stepped shaft (28); Second stepped shaft (26), the 3rd stepped shaft (23) both sides are with first arm sidewall (5) respectively, first arm sidewall (24); And fastening at each place, stepped shaft end, the gear (27) on first stepped shaft (28) that wherein first arm sidewall (24) is outer and this sidewall is outer is connected.
3. the foot of taking turns according to claim 2 combines the full landform robot ride device that goes, and it is characterized in that the gear (1,2,28) on said first stepped shaft (28) belongs to three sleeve gear group driving systems respectively.
4. the foot of taking turns according to claim 3 combines the full landform robot ride device that goes, and it is characterized in that the gear (4) on said the 3rd stepped shaft (23) belongs to two sleeve gear group driving systems respectively with gear (22).
5. the foot of taking turns according to claim 2 combines the full landform robot ride device that goes; It is characterized in that described second largest arm group comprises second largest arm sidewall (16,19); Gear (18,20), four-step axle (21,10,17), wherein: four-step axle (21) is through bearing connection gear (20); The 5th stepped shaft (10) is through ladder axle sleeve (17) connection gear (18); Ladder axle sleeve (17) is simultaneously fastening with the 5th stepped shaft (10) and gear (18), second largest arm sidewall (16), and second largest arm sidewall (19) is connected outside the four-step axle (21) abreast; Wherein, Gear (4) on the 3rd stepped shaft (23) in one end of second largest arm sidewall (16) and the first arm group is connected, and the other end is connected with the 5th stepped shaft (10) through flange bearing, and second largest arm sidewall (19) one ends link to each other with the 3rd stepped shaft (23) through bearing; The other end links to each other with the 5th stepped shaft (10) through flange bearing, and carries out fastening at each place, stepped shaft end.
6. the foot of taking turns according to claim 5 combines the full landform robot ride device that goes; It is characterized in that in the described first arm group with gear (4) that second largest arm sidewall is connected on be furnished with this second largest arm sidewall around the coaxial screw of the 3rd stepped shaft (23); And continuous through bolt and nut, make second largest arm and gear (4) rotate synchronously around the 3rd stepped shaft (23).
7. combine the full landform robot ride device that goes according to each described foot of taking turns of claim 1-5; It is characterized in that described triangle planet arm group comprises triangle planet arm sidewall (11,14); The 6th stepped shaft (9,6), ladder axle sleeve (12), gear (8,13,15); And pulley (7); Wherein: triangle planet arm sidewall (11 and 14) links to each other with the 5th stepped shaft (10) respectively through flange bearing, and gear (13) links to each other with the 5th stepped shaft (10) through ladder axle sleeve (12), and this ladder axle sleeve (12) is connected respectively at the 5th stepped shaft (10) and gear (13); The 6th stepped shaft (9) links to each other with gear (15) through bearing; The 7th stepped shaft (6) links to each other with gear (8) and pulley (7) through bearing, and the gear (8) on the 7th stepped shaft (6) and pulley (7) be connected, and carries out fastening with nut in the end of each stepped shaft.
8. the foot of taking turns according to claim 7 combines the full landform robot ride device that goes, and it is characterized in that all gears (8,13,15) in the said triangle planet arm group belong to same set of gear cluster driving system with gear (18) in the second largest arm group.
9. the foot of taking turns according to claim 7 combines the full landform robot ride device that goes; It is characterized in that the pulley (7) on the 7th stepped shaft (6) of described triangle planet arm group has coaxial screw with gear (8); Link to each other through bolt and nut; Make pulley and this gear rotate synchronously, and pulley (7) diameter is greater than gear (8) diameter around the 7th stepped shaft (6).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210187239.5A CN102700644B (en) | 2012-06-08 | 2012-06-08 | Wheel and foot combined all-terrain robot running device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210187239.5A CN102700644B (en) | 2012-06-08 | 2012-06-08 | Wheel and foot combined all-terrain robot running device |
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| CN102700644A true CN102700644A (en) | 2012-10-03 |
| CN102700644B CN102700644B (en) | 2014-10-15 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104044658A (en) * | 2014-06-26 | 2014-09-17 | 北京林业大学 | Novel walking mechanism of novel wheel and leg combined type mobile robot |
| CN108454718A (en) * | 2018-05-24 | 2018-08-28 | 河北工业大学 | A kind of passive adaptive robot of crawler type |
| CN108739741A (en) * | 2018-06-06 | 2018-11-06 | 宜宾学院 | A kind of novel more landform vehicle-mounted sprayers |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104044658A (en) * | 2014-06-26 | 2014-09-17 | 北京林业大学 | Novel walking mechanism of novel wheel and leg combined type mobile robot |
| CN108454718A (en) * | 2018-05-24 | 2018-08-28 | 河北工业大学 | A kind of passive adaptive robot of crawler type |
| CN108739741A (en) * | 2018-06-06 | 2018-11-06 | 宜宾学院 | A kind of novel more landform vehicle-mounted sprayers |
| CN108739741B (en) * | 2018-06-06 | 2023-10-17 | 宜宾学院 | Novel multi-terrain pesticide spraying machine |
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| CN102700644B (en) | 2014-10-15 |
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Address after: 210012 Yuhuatai Ande District, Nanjing, No. 5 main street, building No. 1, building 8, floor to floor, building 57 Patentee after: YIJIAHE TECHNOLOGY Co.,Ltd. Address before: 210012 Yuhuatai Ande District, Nanjing, No. 5 main street, building No. 1, building 8, floor to floor, building 57 Patentee before: JIANGSU YIJIAHE TECHNOLOGY Co.,Ltd. |
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| CP03 | Change of name, title or address |
Address after: 210012 Yuhuatai Ande District, Nanjing, No. 5 main street, building No. 1, building 8, floor to floor, building 57 Patentee after: JIANGSU YIJIAHE TECHNOLOGY Co.,Ltd. Address before: High tech Zone Nanjing city Jiangsu province 210061 Lijing Road No. 20 building No. 2 room C110 D Patentee before: JIANGSU YIJIAHE INFORMATION SCIENCE & TECHNOLOGY CO.,LTD. |