CN102935787B - Multi-vane wheel obstacle crossing mechanism - Google Patents
Multi-vane wheel obstacle crossing mechanism Download PDFInfo
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- CN102935787B CN102935787B CN201210517951.7A CN201210517951A CN102935787B CN 102935787 B CN102935787 B CN 102935787B CN 201210517951 A CN201210517951 A CN 201210517951A CN 102935787 B CN102935787 B CN 102935787B
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Abstract
The invention relates to a multi-vane wheel obstacle crossing mechanism, which comprises a body frame and traveling wheels, wherein the body frame is in a flat cuboid shape; the traveling wheels are symmetrically arranged on the left and right sides of the body frame through an axle; and the multi-vane wheel obstacle crossing mechanism is characterized in that the traveling wheels are multi-vane wheels; the multi-vane wheels are formed by cutting out a section of arc from the circumference of a whole circle of a wheel in equal arc length at intervals; six multi-vane wheels are in a group, wherein three multi-vane wheels are on each side and every two multi-vane wheels are symmetrical; after being mounted, vane arc sections of every two symmetrical multi-vane wheels are mutually complementary to form a whole circle; and a first wheel and a third wheel on any side of the body frame and a second wheel on the other side are in the same mounting state, that is, the corresponding vanes have the same direction after installation. The multi-vane wheel obstacle crossing mechanism is high in earth surface adaptability and high in obstacle crossing capacity, can easily cross obstacles with the diameters which are slightly smaller than the diameters of the wheels, and has a certain advantages compared with a single body mechanism of a general six-wheel robot body.
Description
Technical field
The invention belongs to the field such as wheeled mobile robot, obstacle detouring mode, be specifically related to a kind of can the structure of barrier-crossing traveling mechanism of self adaptation obstacle and mode of motion.
Background technology
A lot of country and company all can be movably walking in complex environment landform and the robot of clear an obstacle or mobile device in the wild in research.Particularly just as occurring that mud-rock flow, colliery cave in, in short-term, the mankind can not be close easily after gas leak, earthquake disaster etc. situation, researchist urgently wishes to work out high speed and controls simple and can cross the mobile robot of certain obstacle.
The traveling gear of existing mobile device is broadly divided into: wheeled, crawler type, polypody, hybrid and special shape (as snakelike sliding 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 in the primary stage of research and development application at present.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 improper concerning crawler belt power has the mobile device of strict restriction.Wheeled mobile robot has light succinct, high speed, high efficiency and some inherent advantages such as control is simple, but just seems clumsy and helpless when lowered in field environment and complex-terrain.
Although wheel type traveling mechanism is simple and efficiency is high, its obstacle climbing ability but receives its simple structure and limited.Therefore, innovated common wheel type traveling mechanism and improve, can be suitable for the fast running of flat road surface and rural atmosphere and complex-terrain, be a developing direction.
Summary of the invention
The object of the invention is to provide the Multi-impeller mobile robot that a kind of mechanism is simple, earth's surface comformability is good, obstacle climbing ability is strong.
A kind of Multi-impeller barrier getting over mechanism, comprises fuselage ring, road wheel, power system (comprising motor), energy source system (comprising power supply), control circuit, remote control and receiver module; Fuselage ring is flat rectangular build, and road wheel is arranged on fuselage ring the right and left by wheel rotational symmetry; It is characterized in that: described road wheel is Multi-impeller, described Multi-impeller is formed after the first-class arc length interval of the full circle circumferential edge of a wheel cuts out one section of circular arc, it is one group that described Multi-impeller is taken turns with six, three on one side, symmetrical between two, after being in place, the blade arc section of two symmetrical Multi-impellers is just in time complementary, form a full circle, and first and the third round on arbitrary one side of fuselage ring and second of another side are taken turns and adopt same installing condition, namely, after installing, the direction of corresponding blade is identical.Described blade quantity is two, three, four or five.
The present invention adopts Multi-impeller to replace common wheel, can allow the weight of wheel, and what ensure to walk is steady simultaneously.
Between the arc of described each blade and arc and the arc of blade with isometric by the arc of blank parts that cuts out, even blade quantity to be n, n be more than or equal to 2 integer, then the arc of each blade equals 1/2n, is like this to take into account weight and pulsation-free is more preferably selected.
The arc length of each blade can certainly be selected to be greater than 1/2n, to sacrifice the advantage of some weight like this, but more steady when can reach walking.
The present invention is applied in whole robot system, by the control part adapted, by controlling the walking states of each wheel, and the switching of the two kinds of modes moved ahead with obstacle detouring that can realize steadily moving ahead.
Wherein the first walking manner is under the environment of level road, and for one group of wheel, the initialization of the relative position of six wheels is similar to six biped robots of triped gait, and namely the breast wheel of certain side keeps identical state with the front and back two-wheeled of opposite side.And the arc section of symmetrical two wheels is complementary, is formed one on the whole the state of kinematic motion of wheel and full circle wheel equivalent.This avoid slow-footed shortcoming under level road state, its effect sees the rotation being equivalent to six circle wheels on the whole, not fluctuation or concussion.In addition, for the obstacle that some discrete obstruction degree are low, this walking manner also can pass through easily.
Another kind of walking manner is when running into continuous obstacle, belonging to a kind of state and carries out obstacle detouring, by the breach of Multi-impeller, can hang over comparalive ease on obstacle, improving obstacle climbing ability by switching to six wheels.And for trilobed wheel, because its breach is that its obstacle clearing capability is far longer than the radial height of common wheel by 120 ° of deciles.So relative to common six wheel robots, this walking manner of the present invention shows certain advantage.
Visible, Multi-impeller barrier getting over mechanism of the present invention combines wheeled travel efficiency and the obstacle climbing ability of vane type, makes this mechanism have the advantages such as structure is simple, the speed of travel is fast, obstacle climbing ability is strong concurrently.
Accompanying drawing explanation
Fig. 1 is the trilobed wheel prototype schematic diagram used by this barrier getting over mechanism;
Fig. 2 is this barrier getting over mechanism level road motion initial condition schematic diagram;
Fig. 3 is that this barrier getting over mechanism level road moves ahead the view of 30 °;
Fig. 4 is that this barrier getting over mechanism level road moves ahead the view of 60 °;
Fig. 5 is this barrier getting over mechanism motion initial condition schematic diagram under obstacle detouring mode;
Fig. 6 is the rough schematic view of this barrier getting over mechanism;
Fig. 7 is the full circle design sketch that this barrier getting over mechanism level road motion initial condition side is seen.
Detailed description of the invention
The present invention is applied in different applied environments, and required concrete robot architecture is different with control part and circuit part.Can gain enlightenment from the present invention to allow more people and for improvement of the present invention and utilization, the present invention is only applied for rights protection and rationale for the problem of essence and key component.
As a kind of form of the present invention, describe as an example with trilobed wheel herein only and explain and of the present inventionly realize principle and mode of motion, other impeller number has same principle with trilobed wheel.
See Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, structure and the mode of motion of barrier getting over mechanism are taken turns in a kind of six of the present invention's proposition, comprise fuselage ring 2, road wheel 1, power system (comprising motor), energy source system (comprising power supply), control circuit, remote control and receiver module, herein, not to power system (comprising motor), energy source system (comprising power supply), control circuit, the concrete structure of the body such as remote control and receiver module does detailed restriction, existing techniques in realizing can be adopted, it not the technological improvement point of this patent, therefore save in figure.Set forth from concrete structure setting and mode of motion two aspects below.
See Fig. 1, road wheel used in the present invention is trilobed wheel 1, and its home position is fixed on the dynamic rotation axle of drive system apparatus.This trilobed wheel feature is in the circumferential edge of a full circle, find out six points of six Equal round girths, is one group, separates three groups with adjacent 2 in interval.Be that the center of circle prescinds circular arc portion at the mid point often organizing adjacent 2 lines.The center of circle of roundlet can be positioned as close to impeller axle center.The weight of impeller can be made like this and easily block obstacle.The wheel blades of Fig. 5, Fig. 6 and Fig. 7 also has circular hole, and design makes the weight of wheel as far as possible little while not affecting the firm quality of wheel like this, thus reduce a part to the weight of fuselage.Whether have in the 7 width figure provided the key that circular hole is not technology, Fig. 1 to Fig. 4 is just in order to illustrate mode of motion of the present invention and principle.
Of the present invention moving under plateau on level road moves ahead see Fig. 2, Fig. 3, Fig. 4.
In fig. 2, be steady.Former and later two wheels L1 and L3 and right side one skate in the middle of wheel R2 keep a kind of state.Remaining L2 and R1, R3 belong to another kind of complementary state.Now the contact point on robot car body and ground is impeller limit mid point A, B, C of wheel R2, L1 and L3.In geom three not point on the same line determine a plane, so now point of contact A, B, C supports robot car body.
Supposing six, to take turns under barrier getting over mechanism initial condition with that radius of ground contact points be reference, and the angle that moves ahead is 0 degree, and when the angle that six wheels move ahead is within 30 °, the point of contact supporting car body is all on a blade edge of R2, L1 and L3 tri-wheels.This process all belongs to pulsation-free state.
When the angle that six wheels move ahead is just in time 30 °, see Fig. 3, it is now a state transformation point.In figure, the contact point on R2, L1 and L3 and ground is marginal point A, B, C of each blade.Meanwhile, the contact point on R1, R3 and L2 and ground is B1, C1 and A1.Because R2, L1 and L3 are complementary in a full circle relative to L2, R1 and R3, now remain a pulsation-free state.
When the angle that six wheels move ahead is greater than 30 ° and is less than 90 °, can suppose that a certain state is 60 degree, see Fig. 4, with the contact point on ground be now L2, R1 and R3 wheel blades on mid point A1, B1 and C1.Be equally at 3 and determine a plane, support car body.Fig. 4, Fig. 6 and Fig. 7 are the complementary state of Fig. 2 about a full circle wheel.For the state of two before and after transformation point, can be regarded as: alternately switching of this group wheel of R2, L1 and L3 and this group wheel of L2, R1 and R3, see on the whole, these two groups of wheels are full circle effects of continuously smooth.
In like manner, when the wheel angle that moves ahead is 90 degree, 150 degree, 210 degree, 270 degree and belongs to state transformation point with the same with the 30 degree of angles of moving ahead when 330 degree.These time be carved with the point of six kiss the earths.Not three touchdown points are on the same line had to support car body reposefully under other arbitrarily angled.Just can move ahead as the wheel of full circle on level land so move ahead according to this mode of motion.Thus optimum regime is reached in speed.
Before plateau under line mode, because synchronization only has three touchdown points except transformation point state, add that wheel is had vacant position part, so relative obstacle climbing ability is now eager to excel compared with the situation of rounding wheel, but the problem that wigwag motion shakes may be there is like this, in order to reach better obstacle detouring effect and stability.Propose the mode of motion under obstacle detouring mode state below.
See Fig. 5, when running into obstacle, mode of motion is switched to the state as Fig. 5, now six wheels on left side and right side are in same state.Changing method keeps wherein one group of three wheel motionless, controls three wheel turns sextants of other a group.Now in order to avoid concussion can slow down front line speed.The obstacle performance of this mode is more a lot of by force than state before.
Claims (4)
1. a Multi-impeller barrier getting over mechanism, comprises fuselage ring and road wheel; Fuselage ring is flat rectangular build, and road wheel is arranged on fuselage ring the right and left by wheel rotational symmetry; It is characterized in that: described road wheel is Multi-impeller; described Multi-impeller is formed after the first-class arc length interval of the full circle circumferential edge of a wheel cuts out one section of circular arc; it is one group that described Multi-impeller is taken turns with six, three, symmetrical between two; after being in place; the blade arc section of two symmetrical Multi-impellers is just in time complementary, forms a full circle, and arbitrary first and the third round of fuselage ring is taken turns with second of another side and adopted same installing condition; namely, after installing, the direction of corresponding blade is identical;
By controlling the walking states of each wheel, the switching of two kinds of walking manners that realization steadily moves ahead and obstacle detouring moves ahead:
The first walking manner is under the environment of level road, the initialization of the relative position of six wheels is similar to six biped robots of triped gait, namely the breast wheel of certain side keeps identical state with the front and back two-wheeled of opposite side, and the arc section of symmetrical two wheels is complementary, is formed one on the whole the state of kinematic motion of wheel and full circle wheel equivalent;
Another kind of walking manner is when running into continuous obstacle, belonging to a kind of state and carries out obstacle detouring, hanging on obstacle, improve obstacle climbing ability by the breach of Multi-impeller by switching to six wheels.
2. Multi-impeller barrier getting over mechanism according to claim 1, it is characterized in that: between the arc of described each blade and arc and the arc of blade with isometric by the arc of blank parts that cuts out, even described blade quantity to be n, n be more than or equal to 2 integer, then the arc of each blade equals 1/2n.
3. Multi-impeller barrier getting over mechanism according to claim 1, is characterized in that: if described blade quantity is n, then the arc length of each blade is greater than 1/2n.
4. Multi-impeller barrier getting over mechanism according to claim 1, is characterized in that: described blade quantity is two, three, four or five.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210517951.7A CN102935787B (en) | 2012-10-15 | 2012-12-06 | Multi-vane wheel obstacle crossing mechanism |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220525761.5 | 2012-10-15 | ||
| CN2012205257615 | 2012-10-15 | ||
| CN201220525761 | 2012-10-15 | ||
| CN201210517951.7A CN102935787B (en) | 2012-10-15 | 2012-12-06 | Multi-vane wheel obstacle crossing mechanism |
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| Publication Number | Publication Date |
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| CN102935787A CN102935787A (en) | 2013-02-20 |
| CN102935787B true CN102935787B (en) | 2015-03-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220666787 Expired - Fee Related CN202944147U (en) | 2012-10-15 | 2012-12-06 | Multi-impeller obstacle crossing mechanism |
| CN201210517951.7A Active CN102935787B (en) | 2012-10-15 | 2012-12-06 | Multi-vane wheel obstacle crossing mechanism |
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| CN 201220666787 Expired - Fee Related CN202944147U (en) | 2012-10-15 | 2012-12-06 | Multi-impeller obstacle crossing mechanism |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202944147U (en) * | 2012-10-15 | 2013-05-22 | 西南大学 | Multi-impeller obstacle crossing mechanism |
| CN103661931A (en) * | 2013-12-23 | 2014-03-26 | 北京理工大学 | Novel ground motorized composite take-off and landing mechanism applicable to small aircraft |
| CN105863687B (en) * | 2016-05-20 | 2018-08-21 | 重庆科技学院 | Packaged type steel arch support trolley |
| CN108583715A (en) * | 2018-05-23 | 2018-09-28 | 西南大学 | More sufficient homonymies of wheel synchronize different Earth Phase robots |
| CN109018069A (en) * | 2018-05-30 | 2018-12-18 | 中国人民解放军军事科学院国防科技创新研究院 | Wheel moving platform and moving trolley |
| CN110253592B (en) * | 2019-06-03 | 2020-12-25 | 广西电网有限责任公司贵港供电局 | Intelligent line patrol robot for high-voltage transmission line |
| CN111845998A (en) * | 2020-07-15 | 2020-10-30 | 中原动力智能机器人有限公司 | Robot moving platform |
| CN117444932A (en) * | 2023-11-22 | 2024-01-26 | 深圳技术大学 | Earthquake disaster relief robot and rescue device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| SE448294B (en) * | 1983-11-17 | 1987-02-09 | Mecanum Ab | Transport device |
| DE10000096A1 (en) * | 2000-01-04 | 2001-07-05 | Ridha Azaiz | Mobile robot, esp. for application of smooth and inclined surfaces, which can be modularly constructed, has each suction cup fitted with a corresponding sensor device and a matching walking mechanism |
| US7249640B2 (en) * | 2001-06-04 | 2007-07-31 | Horchler Andrew D | Highly mobile robots that run and jump |
| CN102107685B (en) * | 2011-01-12 | 2012-09-26 | 西南大学 | Six-foot robot with eccentric wheel legs |
| CN102275457B (en) * | 2011-05-23 | 2012-12-26 | 西南大学 | Switched multi-blade obstacle-crossing wheel |
| CN102490803B (en) * | 2011-12-02 | 2014-11-05 | 西南大学 | Wheel-type linked barrier-crossing traveling mechanism |
| CN202944147U (en) * | 2012-10-15 | 2013-05-22 | 西南大学 | Multi-impeller obstacle crossing mechanism |
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- 2012-12-06 CN CN 201220666787 patent/CN202944147U/en not_active Expired - Fee Related
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| CN102935787A (en) | 2013-02-20 |
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