CN102700644B - 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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- CN102700644B CN102700644B CN201210187239.5A CN201210187239A CN102700644B CN 102700644 B CN102700644 B CN 102700644B CN 201210187239 A CN201210187239 A CN 201210187239A CN 102700644 B CN102700644 B CN 102700644B
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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 the full landform robot ride of the sufficient convolution of a kind of wheel device.
Background technology
Along with scientific and technological progress, the development of society, the field that people probe into is in continuous expansion, in these activities, the effect of robot becomes more and more important, especially the special landform that a lot of mankind cannot involve in, such as the scene after earthquake, the surface of mars exploration.
So in the last few years, increasing people started imagination the possible walking manner of invention robot, but principal mode can be summed up as two classes, i.e. wheeled and leg formula.Pure wheeled owing to relying on wheel to advance, therefore moving velocity is fast, easy operation control; But also cause its road pavement to be had relatively high expectations taking wheel as main body, easily become bogged in the swamp, and it is poor to keep away 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 centre, and its imitates the motion of people's leg, can across obstacle, again due to large with contact area of ground, therefore the Special Road such as sand ground, marsh of can passing by; But the speed that simultaneously also exists is slow and the shortcoming such as more difficult control.Wheel that we invent foot is the robot ride device of a kind of employing mode of motion that both are combined in conjunction with the full landform robot ride device that travels, overcome pure wheeled slow, the rambunctious shortcoming of barrier obstacle climbing ability poor and pure leg formula speed of keeping away, can change places fast by obstacle belt and moving velocity, by the strengths and weaknesses complementation of both mechanisms, application prospect is wide, the alternative overwhelming majority's robot ride device, especially requires higher robot to extreme terrain crossing ability.
Through the literature search of prior art is found, the people such as Liu Aihua are in " robot " the 06th phase in 2008, write articles " the walking combined wall climbing robot mechanism modeling of a kind of wheel and analysis ", this article has been introduced a kind of design plan of robot form device of taking turns sufficient combination, and has completed the three-dimensional modeling to it.But this robot ride device still relies on the mode of walking to advance and passes through face variously, moving velocity is slower, and its crossing ability can not realize from main regulation, and efficiency is lower, therefore can not be applicable to occasion widely.
Summary of the invention
The object of the invention is to overcome the deficiency on existing robot common form device, provide a kind of effectively failure-free to take turns the full landform robot ride of sufficient convolution device, not only there is higher autonomous crossing ability, and moving velocity is very fast, can fast and effeciently pass through Different Ground, and simple for structure, and motion is flexible, cost of manufacture is low, is applicable to multiple occasion.
The present invention is achieved by the following technical solutions:
A kind of wheel foot of the present invention is in conjunction with the full landform robot ride device that travels, comprise three moving cell groups, it is respectively first arm group, second largest arm group, triangle planet arm group, wherein, first arm group is connected with second largest arm group by the stepped shaft in first arm stepped shaft group, and second largest arm group is connected with triangle planet arm group by the stepped shaft in large 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 a, first arm sidewall b, the first～seven gear, first arm stepped shaft group, wherein, first arm stepped shaft group comprises: the first stepped shaft, the second stepped shaft and the 3rd stepped shaft, on the first stepped shaft, connect the first～three gear by bearing, on the second stepped shaft, connect the 3rd by bearing, the 6 two gear, on the 3rd stepped shaft, connect the 4th by bearing, the 5th gear, parallelly in stepped shaft both sides connect first arm sidewall a, first arm sidewall b, and fastening in each stepped shaft end with nut, wherein, the 7th gear on the first stepped shaft outside first arm sidewall and this sidewall is connected.On stepped shaft first, second, the 7th gear belongs to respectively three sleeve gear group driving systems.
Described second largest arm group comprises second largest arm sidewall a, second largest arm sidewall b, the eight～nine gear, second largest arm stepped shaft group, ladder axle sleeve, wherein, second largest arm stepped shaft group comprises: four-step axle, the 5th stepped shaft, four-step axle connects the 9th gear by bearing, the 5th stepped shaft connects octadentate wheel by ladder axle sleeve, ladder axle sleeve is fastening with the 5th stepped shaft and octadentate wheel respectively, second largest arm sidewall a and second largest arm sidewall b are connected to outside ladder axle sleeve abreast, wherein, the 4th gear on the 3rd stepped shaft in one end and the first arm group of the second largest arm sidewall a of close triangle planet arm group is connected, the other end is connected with the 5th stepped shaft by flange bearing, second largest arm sidewall b one end is connected with the 3rd stepped shaft by bearing, the other end is connected with the 5th stepped shaft by flange bearing, and carry out fastening in each stepped shaft end with bolt and nut.
Described triangle planet arm group comprises triangle planet arm sidewall a, triangle planet arm sidewall b, triangle planet arm stepped shaft group, ladder axle sleeve, the the tenth～the 12 gear, and pulley, its intermediate cam planet arm stepped shaft group comprises: the 6th stepped shaft, the 7th stepped shaft, triangle planet arm sidewall a is connected with the 5th stepped shaft by flange bearing with triangle planet arm sidewall b, the 11 gear is connected with the 5th stepped shaft by ladder axle sleeve, this ladder axle sleeve is connected with the 5th stepped shaft and the 11 gear respectively, the 6th stepped shaft is connected with the 12 gear by bearing, the 7th stepped shaft is connected with the tenth gear and pulley by bearing, and the tenth gear and pulley on the 7th stepped shaft are connected, and carry out fastening in the end of each stepped shaft, wherein, octadentate wheel in all gears and second largest arm group in triangle planet arm group belongs to same set of gear cluster driving system.
On the 4th gear being connected with second largest arm sidewall in described first arm group, be furnished with the screw coaxial with this second largest arm sidewall, and be connected by bolt and nut, make second largest arm synchronize and rotate around the 3rd stepped shaft with this gear.
Pulley on the 7th stepped shaft of described triangle planet arm group has coaxial screw with the tenth gear, is connected by bolt and nut, make pulley synchronize and rotate around the 7th stepped shaft with this gear, and diameter of pulley is greater than the tenth gear diameter.
Compared with prior art, the invention has the beneficial effects as follows: by the wheeled and sufficient formula mode of travelling is combined and can both keep adaptivity and the crossing ability that this device is very high, can ensure again its moving velocity faster, and this apparatus structure is simple and reliable, alerting ability is high, and applicability is strong.
Brief description of the drawings
Fig. 1 is apparatus of the present invention main assembly connection diagram;
Fig. 2 is the composition connection diagram of first arm group;
Fig. 3 is the composition connection diagram of second largest arm group;
Fig. 4 is the composition connection diagram of triangle planet arm group;
In figure: the first gear 1, the second gear 2, the 3rd gear 3, the 4th gear 4, first arm sidewall a5, the 7th stepped shaft 6, pulley 7, the tenth gear 8, the 6th stepped shaft 9, the 5th stepped shaft 10, triangle planet arm sidewall a11, ladder axle sleeve 12, the 11 gear 13, triangle planet arm sidewall b14, the 12 gear 15, second largest arm sidewall a16, ladder axle sleeve 17, octadentate wheel 18, second largest arm sidewall b19, the 9th gear 20, four-step axle 21, the 5th gear 22, the 3rd stepped shaft 23, first arm sidewall b24, the 6th gear 25, the second stepped shaft 26, the 7th gear 27, the first stepped shaft 28.
Detailed description of the invention
Below in conjunction with accompanying drawing, example of the present invention is described in detail: the present embodiment is implemented under taking technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment
Embodiment
As Fig. 1, this example comprises three moving cell groups, it is respectively first arm group, second largest arm group, triangle planet arm group, is connected to each other between every two connected moving cell groups, wherein, first arm group is connected with second largest arm group by stepped shaft, and 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 by 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.
In Fig. 1, the first stepped shaft 28 by bearing respectively with the first gear 1, the second gear 2, the 7th gear 27 is located mutually, simultaneously respectively with first arm sidewall a5, first arm sidewall b24 connects, wherein the 7th gear 27 in first arm sidewall b24 and its outside is coaxially fixing about the first stepped shaft 28, and this gear 27 is connected with the first stepped shaft 28 by bearing, the second stepped shaft 26 by bearing respectively with the 3rd gear 3, the 6th gear 25 connect and with first arm sidewall a5, first arm sidewall b24 connects, the 3rd stepped shaft 23 by bearing respectively with gear 4, gear 22 connect and with first arm sidewall a5, first arm sidewall b24 connects, second largest arm sidewall a16 near triangle planet arm group is fastened by the 4th gear 4 on bolt group and first arm the 3rd stepped shaft 23, another second largest arm sidewall b19 is connected by flange bearing with the 3rd stepped shaft 23, four-step axle 21 is connected with the 9th gear 20 by bearing, and be connected with second largest arm sidewall a16, second largest arm sidewall b19 respectively, the 5th stepped shaft 10 is by ladder axle sleeve 17 and octadentate 18 coaxial fastening being connected of wheel, simultaneously fastening ladder axle sleeve 17 and the 5th stepped shaft 10, makes octadentate take turns 18 and synchronizes rotation with the 5th stepped shaft 10, the 5th stepped shaft 10 is connected with triangle planet arm sidewall a11, triangle planet arm sidewall b14 respectively by flange bearing, simultaneously by ladder axle sleeve 12 and the 11 gear 13 Joints that are in contact with it, make the 5th stepped shaft 10 synchronize rotation with the 11 gear 13, the 6th stepped shaft 9 is connected with the 12 gear 15 by bearing, the 7th stepped shaft 6 is connected with the tenth gear 8 and pulley 7 by bearing, pulley 7 and the tenth gear 8 are fastening, make pulley 7 synchronize rotation with the tenth gear 8.
As shown in Figure 2, described first arm group comprises first arm sidewall a5, first arm sidewall b24, the first～seven gear 1, 2, 3, 4, 22, 25, 27, the first stepped shaft 28, the second stepped shaft 26 and the 3rd stepped shaft 23, wherein, the first stepped shaft 28 connects respectively the first gear 1 by bearing, the second gear 2, the 7th gear 27, the second stepped shaft 26 connects respectively the 3rd gear 3 by bearing, the 6th gear 25, the 3rd stepped shaft 23 connects respectively the 4th gear 4 by bearing, the 5th gear 22, at the first stepped shaft 28, the second stepped shaft 26, the 3rd stepped shaft 23 both sides are overlapped respectively first arm sidewall a5, first arm sidewall b24, and fastening in each stepped shaft end with nut, wherein the 7th gear 27 on the first stepped shaft 28 outside first arm sidewall b24 and outside this sidewall passes through bolt, nut is connected.Wherein, the first gear 1, the second gear 2, the seven gears 27 on the first stepped shaft 28 belong to respectively three sleeve gear group driving systems.
As shown in Figure 3, described second largest arm group comprises second largest arm sidewall a16, second largest arm sidewall b19, the eight～nine gear 18, 20, four-step axle 21, the 5th stepped shaft 10, ladder axle sleeve 17, wherein, four-step axle 21 connects the 9th gear 20 by bearing, the 5th stepped shaft 10 connects octadentate wheel 18 by ladder axle sleeve 17, ladder axle sleeve 17 is taken turns 18 fastening with the 5th stepped shaft 10 and octadentate simultaneously, second largest arm sidewall a16, second largest arm sidewall b19 is connected to outside four-step axle 21 abreast, wherein, the 4th gear 4 on the 3rd stepped shaft 23 in one end of second largest arm sidewall a16 and first arm group is connected, the other end is connected with the 5th stepped shaft 10 by flange bearing, second largest arm sidewall b19 one end is connected with the 3rd stepped shaft 23 by bearing, the other end is connected with the 5th stepped shaft 10 by flange bearing, and carry out fastening in each stepped shaft end with bolt and nut.
The 4th gear 4 on the 3rd stepped shaft 23 shown in Fig. 3 and the 5th gear 22 belong to respectively two sleeve gear group driving systems.
On the 4th gear 4 being connected with second largest arm sidewall in described first arm group, be furnished with this second largest arm sidewall around the coaxial screw of the 3rd stepped shaft 23, and be connected by bolt and nut, make second largest arm and the 4th gear 4 synchronize rotation around the 3rd stepped shaft 23.
As shown in Figure 4, described triangle planet arm group comprises triangle planet arm sidewall a11, triangle planet arm sidewall b14, the 6th stepped shaft 9, the 7th stepped shaft 6, ladder axle sleeve 12, the the tenth～the 12 gear 8, 13, 15, and pulley 7, wherein, triangle planet arm sidewall a11 is connected with the 5th stepped shaft 10 respectively by flange bearing with triangle planet arm sidewall b14, the 11 gear 13 is connected with the 5th stepped shaft 10 by ladder axle sleeve 12, this ladder axle sleeve 12 is connected respectively at the 5th stepped shaft the 10 and the 11 gear 13, the 6th stepped shaft 9 is connected with the 12 gear 15 by bearing, the 7th stepped shaft 6 is connected with the tenth gear 8 and pulley 7 by bearing, and the tenth gear 8 and pulley 7 on the 7th stepped shaft 6 are connected, and carry out fastening in the end of each stepped shaft with nut, wherein, all gears 8 in triangle planet arm group, 13, 15 with second largest arm group in octadentate wheel 18 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 the tenth gear 8, is connected by bolt and nut, make pulley and this gear synchronize rotation around the 7th stepped shaft 6, and pulley 7 diameters is greater than the tenth gear 8 diameters.
The working process of the present embodiment:
In the mechanical arm group of the present embodiment, formed by three cover moving cells: first arm group, second largest arm group, triangle planet arm group.Three cover moving cell cooperation complete the walking of whole mechanism.This mechanism is connected with robot health by the first stepped shaft 28, and the first gear 1, the second gear 2, the seven gears 27, respectively as three power receiving terminals, rotate to control action and the walking of whole mechanism by gear.Wherein, in the time that the 7th gear 27 rotates, whole mechanism rotates around the first stepped shaft 28; In the time that the second gear 2 rotates, second largest arm group is rotated around the 3rd stepped shaft 23 together with triangle planet arm group; In the time that the first gear 1 rotates, by the transmission of gear cluster, make synchronously to rotate at three pulleys of triangle planet arm group outer ring, make the walking of whole mechanism.Wherein, triangle planet arm group can freely be rotated around the 5th stepped shaft 10, and be not subject to the impact of the first gear 1 place gear transmission group transmission, so in the time that mechanism runs into obstacle or gully in the process of moving, can realize the crossing ability to obstacle by the upset of triangle planet arm group in advancing.Meanwhile, the second gear 2, the seven gears 27 respectively 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 to take turns foot in conjunction with the full landform robot ride device that travels, can make robot have good carrying capacity to various complex environments, and keep higher speed, and drive motor can be arranged in the end of the first stepped shaft, motion flexibly, physical construction is simple, workable, and applicability is wide.
Although content of the present invention has been done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.Read after foregoing those skilled in the art, for multiple amendment of the present invention and substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (6)
1. a wheel foot is in conjunction with the full landform robot ride device that travels, it is characterized in that comprising three moving cell groups, it is respectively first arm group, second largest arm group, triangle planet arm group, wherein, first arm group is connected with second largest arm group by the stepped shaft in first arm stepped shaft group, and second largest arm group is connected with triangle planet arm group by the stepped shaft in large arm stepped shaft group; Whole device has three covers and realizes parallel being distributed between this three covers moving cell group of the gear cluster of transmission;
Described first arm group comprises first arm sidewall a (5), first arm sidewall b (24), the first～seven gear (1, 2, 3, 4, 22, 25, 27), the first stepped shaft (28), the second stepped shaft (26) and the 3rd stepped shaft (23), wherein: the first stepped shaft (28) connects respectively first by bearing, second, the 7th gear (1, 2, 27), the second stepped shaft (26) connects respectively the 3rd by bearing, the 6th gear (3, 25), the 3rd stepped shaft (23) connects respectively the 4th by bearing, the 5th gear (4, 22), in the first stepped shaft (28), the second stepped shaft (26), the 3rd stepped shaft (23) both sides are overlapped respectively and are had first arm sidewall a (5), first arm sidewall b (24), and fastening in each stepped shaft end, wherein the 7th gear (27) on the first stepped shaft (28) outside first arm sidewall b (24) and outside this sidewall is connected,
Described second largest arm group comprises second largest arm sidewall a (16), second largest arm sidewall b (19), the 8th, the 9th gear (18, 20), four-step axle (21), the 5th stepped shaft (10), ladder axle sleeve (17), wherein: four-step axle (21) connects the 9th gear (20) by bearing, the 5th stepped shaft (10) connects octadentate wheel (18) by ladder axle sleeve (17), ladder axle sleeve (17) is simultaneously fastening with the 5th stepped shaft (10) and octadentate wheel (18), second largest arm sidewall a (16), second largest arm sidewall b (19) is connected to outside four-step axle (21) abreast, wherein, the 4th gear (4) on the 3rd stepped shaft (23) in one end of second largest arm sidewall a (16) and first arm group is connected, the other end is connected with the 5th stepped shaft (10) by flange bearing, second largest arm sidewall b (19) one end is connected with the 3rd stepped shaft (23) by bearing, the other end is connected with the 5th stepped shaft (10) by flange bearing, and carry out fastening in each stepped shaft end,
Described triangle planet arm group comprises triangle planet arm sidewall a (11), triangle planet arm sidewall b (14), the 6th stepped shaft (9), the 7th stepped shaft (6), ladder axle sleeve (12), the the tenth～the 12 gear (8, 13, 15), and pulley (7), wherein: triangle planet arm sidewall a (11), triangle planet arm sidewall b (14) is connected with the 5th stepped shaft (10) respectively by flange bearing, the 11 gear (13) is connected with the 5th stepped shaft (10) by ladder axle sleeve (12), this ladder axle sleeve (12) is connected respectively at the 5th stepped shaft (10) and the 11 gear (13), the 6th stepped shaft (9) is connected with the 12 gear (15) by bearing, the 7th stepped shaft (6) is connected with the tenth gear (8) and pulley (7) by bearing, and the tenth gear (8) and pulley (7) on the 7th stepped shaft (6) are connected, and carry out fastening in the end of each stepped shaft with nut.
2. the foot of taking turns according to claim 1 is in conjunction with the full landform robot ride device that travels, it is characterized in that on described the first stepped shaft (28) first, second, the 7th gear (1,2,27) belongs to respectively three sleeve gear group driving systems.
3. the foot of taking turns according to claim 1, in conjunction with the full landform robot ride device that travels, is characterized in that the 4th gear (4) on described the 3rd stepped shaft (23) belongs to respectively two sleeve gear group driving systems with the 5th gear (22).
4. the foot of taking turns according to claim 1 is in conjunction with the full landform robot ride device that travels, on the 4th gear (4) that it is characterized in that being connected with second largest arm sidewall in described first arm group, be furnished with this second largest arm sidewall around the coaxial screw of the 3rd stepped shaft (23), and be connected by bolt and nut, make second largest arm and the 4th gear (4) synchronize rotation around the 3rd stepped shaft (23).
5. the foot of taking turns according to claim 1, in conjunction with the full landform robot ride device that travels, is characterized in that all gears (8,13,15) in described triangle planet arm group belong to same set of gear cluster driving system with the octadentate wheel (18) in second largest arm group.
6. the foot of taking turns according to claim 1 is in conjunction with the full landform robot ride device that travels, pulley (7) on the 7th stepped shaft (6) of the triangle planet arm group described in it is characterized in that has coaxial screw with the tenth gear (8), be connected by bolt and nut, make pulley and this gear synchronize rotation around the 7th stepped shaft (6), and pulley (7) diameter is greater than the tenth gear (8) diameter.
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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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| CN201210187239.5A CN102700644B (en) | 2012-06-08 | 2012-06-08 | Wheel and foot combined all-terrain robot running device |
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| CN102700644A CN102700644A (en) | 2012-10-03 |
| CN102700644B true CN102700644B (en) | 2014-10-15 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108454718B (en) * | 2018-05-24 | 2023-06-23 | 河北工业大学 | Crawler-type passive self-adaptive robot |
| CN108739741B (en) * | 2018-06-06 | 2023-10-17 | 宜宾学院 | Novel multi-terrain pesticide spraying machine |
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Effective date of registration: 20150312 Address after: High tech Zone Nanjing city Jiangsu province 210061 Lijing Road No. 20 building No. 2 room C110 D Patentee after: JIANGSU YIJIAHE INFORMATION SCIENCE & TECHNOLOGY CO.,LTD. Address before: 200240 Dongchuan Road, Shanghai, No. 800, No. Patentee before: Shanghai Jiao Tong University |
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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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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. |