CN1031353A - Walking mechanism with rotary rail steering hardware - Google Patents
Walking mechanism with rotary rail steering hardware Download PDFInfo
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- CN1031353A CN1031353A CN 87104152 CN87104152A CN1031353A CN 1031353 A CN1031353 A CN 1031353A CN 87104152 CN87104152 CN 87104152 CN 87104152 A CN87104152 A CN 87104152A CN 1031353 A CN1031353 A CN 1031353A
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- walking
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- guide rail
- rotary
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Abstract
A kind of walking mechanism that is used for walking machine with rotary rail steering hardware.The horizontal moving guide rail of this walking mechanism leg is a rotary rail, and all rotary rails are contained on the translation frame, guarantees that by the steering transmission linkage that is contained in the translation frame each rotary rail and vehicle body rotate synchronously when turning to.Leg mechanism is a three-dimensional motion detachable straight-line mechanism.
Description
The invention belongs to a kind of traveling gear in trackless vehicle borne walking machine (B62D57/02) or the industrial robot (B25J05/00).
The problem that turns to of walking mechanism is an insoluble problem.Before the present invention, the walking and turning to of walking machine with leg mechanism of two above degree of freedom many is controlled by computing machine, and not ad hoc steering hardware.For example the six-legged walking machine ASV of the described Ohio State Univ-Columbus USA of document [" walking vehicle theory " Chen Bingcong, Beijing armored force engineering institute] development is a representative type example.Its leg mechanism is a two-dimentional simple-type scaling device, the motion guide rail of its level and vertical both direction hangs down mutually and only is contained in the ⊥ shape framework, the top of framework and vehicle body hinge joint can move inwards or outwards under the promotion of oil cylinder, so the leg mechanism of this walking machine have 3 degree of freedom.Its six legs are along vehicle body both sides symmetric arrangement.Turning to computing machine of it controlled, the control of this walking machine when turning to during than straight line moving complexity many, this be because, turn to the computer-chronograph control system must provide the different instruction of 18 degree of freedom of six legs simultaneously, coordination in the time of could guaranteeing to turn between the stable and leg of vehicle body, this is all to be a challenge on control system composition, algorithm and program realize.Obviously it is impossible will realizing turning under the general technology condition, even can turn to as said walking machine in the example, but because it need constantly change step when turning to, change attitude, it is slow to have turning velocity, the shortcoming of manoevreability difference also makes cost increase substantially simultaneously, reduces practicality.
Purpose of the present invention is exactly in order to solve the problem that turns to of walking machine traveling gear.For under the prior art condition, realize walking machine rationally turn to and for future walking machine turn to and control provides method and apparatus.
For this purpose, the present invention notices that the direction that walking machine advances is consistent characteristics with the direction of the horizontal moving guide rail of its leg mechanism, realizes turning to of walking machine with the direction that changes the leg mechanism horizontal moving guide rail.
Main points of the present invention have been to introduce the horizontal moving guide rail that rotary guide rail is a leg mechanism.When walking machine turns to, utilize steering transmission linkage to make the horizontal moving guide rail of each bar leg do to rotate synchronously, the horizontal motion direction that changes leg is the sense of motion of walking machine.The rotating shaft of each rotary rail and steering transmission linkage all are contained in the tubbiness frame, obviously this frame can only be done translation when turning to, for having turning under the true meaning, can allow vehicle body also rotate synchronously with rotary rail, make headstock all the time towards working direction.Because the horizontal moving guide rail of leg mechanism is rotated,, make the motion of its horizontal moving guide rail not influence the vertical direction motion so leg mechanism should be selected the separable mechanism of motion for use.There are three-dimensional simple-type scaling device and Descartes's quadrature mechanism in such mechanism.The introducing of rotary rail is led one dimension and is finished the two-dimensional guide function, the disadvantage that the many guide rails that prevented to use three-dimensional simple-type scaling device and space Descartes's quadrature mechanism to exist overlap.The leg number is optional more than 4 under the situation that guarantees the steady stability balance, and for well, heavy walking machine can suitably increase the leg number with six legs, eight legs, and leg is answered all equivalent arrangements in symmetry garden, center.
Fig. 1 is a scheme scheme drawing that this walking mechanism is used for six sufficient walking vehicles.Fig. 2 is the scheme drawing that turns to of this walking vehicle.Wherein solid line is represented the position that walking machine is current, and dotted line or long and short dash line represent that walking turns over a position after the angle.The direction that walking machine that arrow refers to advances.Fig. 3 is a kind of motion principle figure of three-dimensional simple-type scaling device.Fig. 4 is Descartes's quadrature mechanism.
As shown in Figure 1, translation frame (12) is a garden shape or polygonal barrel-like structure, upper bottom portion is provided with upper support frame (13) and lower supporting frame (27), be evenly equipped with the groove (16) that the vertical motion guide rail (11) of leg mechanism is equipped with on the both sides that equate with the leg number on the bucket wall (14), the upper support frame (13) of translation frame (12) links to each other with vehicle body with swivel bearing (3) by the hollow shaft (9) of vehicle body (1).The horizontal moving guide rail of leg mechanism (23) is one group of rotary rail (17), and its hollow rotating shaft (19) links to each other with the lower support plate (27) of frame (12), and the center symmetry is distributed on the lower support plate (27) of translation frame (12).Gear (4), (5), the steering transmission linkage that axle (6), gear (8), (10) are formed, be contained between the upper bearing plate (13) and lower support plate (27) of translation frame (12), overall gear ratio is 1, guarantee vehicle body (1) when walking machine turns to, each rotary rail (17) rotates synchronously.Leg mechanism by connecting rod (26), (24), (25), (21) form through the three-dimensional simple-type scaling device of equivalent deformation, the method for distortion is to keep former pilot point R, Q and servo-actuated point P[to scheme (3)] motionless connecting rod is done equivalent translation or prolongation.Do the compactness that helps leg mechanism like this.More than type of drive such as said steering transmission linkage available hydraulic, pneumatic, electric power replace, this moment rotary rail rotation by HM Hydraulic Motor, rotary oil cylinder, air motor or motor direct-drive are computerizedd control synchronously.In fact, under the situation of active computer direct control rotary rail (17) motion, the present invention not only provides steering hardware easily, and come down to provide a kind of cylindrical coordinates mechanism, the foundation of the control algorithm of walking machine is become simply, and said leg has certain difficulty to the forward method in medial and lateral step in the example on control algorithm.
The present invention compared with prior art has following outstanding advantages: have a cover transfer to make walking mechanism possess simultaneously following advantage when turning to: 1. can turn in the nonslipping situation of pin and ground; 2. can turn to continuously (being to transfer not occur broken line rule mark while walking); 3. can once turn to (i.e. the not change of feet turns over arbitrarily angled, and this is that described walking machine is beyond one's reach forever before nature animal and the present invention); 4. the most outstanding advantage is to have one to control without microcomputer when turning to unlike the mechanical type transfer of conventional vehicles complexity, Microcomputer is freed concentrate one's energy to control the coordination of balance, attitude and the leg of health, developed the ability of walking machine. If use the motion of microcomputer control rotary rail, still possess above-mentioned first three items advantage, this moment, walking machine can freely be selected foothold, and a typical cylindrical coordinates mechanism is arranged, make control algolithm, control system and program realize all greatly simplifying, thereby improved the practicality of walking machine. Rotary rail is finished the two-dimensional guide function with the one dimension guide rail, has prevented the overlapping of guide rail, has alleviated weight, makes three-dimensional simple-type scaling device or space Descartes's quadrature mechanism might be widely used in the leg mechanism design.
The present invention can be used for walking vehicle, mine walking machine and many legs industry walking robot etc.
Claims (6)
1, a kind of walking mechanism, it is made up of frame, guide rail, leg mechanism and driving device.Feature of the present invention is that the interior tool of frame (12) is a steering transmission linkage, and upper support frame (13) connects fuselage (1) by hollow shaft (9), swivel bearing (3), again by rotary rail (17), upright guide rail (11) connection leg mechanism (23).
2, according to the said walking mechanism of claim 1, it is characterized in that said rotary rail (17) and hollow turning cylinder (19) they are one, the center symmetry is distributed on the lower bracket (27) of translation frame (12), and equates with the leg number.
3, according to the said walking mechanism of claim 2, the vertical bucket wall (14) that it is characterized in that frame (12) is gone up uniform that equate with the leg number and both sides the groove (16) of guide rail (11) is housed.
4,, it is characterized in that said steering transmission linkage is by the gear (4) that is contained in hollow turning cylinder (19) one ends, form with gear (4) gears in mesh (5), gear (8) with gear (8) gears in mesh (10) according to the said walking machine of claim 1.Also can replace by HM Hydraulic Motor, air motor, controllable motor or rotary oil cylinder.
5, according to the said walking mechanism of claim 1, it is characterized in that by the leg mechanism that connecting rod (26), (25), (24), (21) are formed be three-dimensional simple-type scaling device, pilot point R is connected with rotary rail (17) by slide block (18), and pilot point Q is connected with upright guide rail (11) by slide block (20).Leg mechanism also can be space Descartes's quadrature mechanism.
6, requiring 1 said walking mechanism according to the power reason, it is characterized in that said walking machine is more than four legs, is the best with six legs, eight legs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 87104152 CN1007720B (en) | 1987-08-20 | 1987-08-20 | Walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 87104152 CN1007720B (en) | 1987-08-20 | 1987-08-20 | Walking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1031353A true CN1031353A (en) | 1989-03-01 |
| CN1007720B CN1007720B (en) | 1990-04-25 |
Family
ID=4814753
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 87104152 Expired CN1007720B (en) | 1987-08-20 | 1987-08-20 | Walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1007720B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1096977C (en) * | 1994-02-20 | 2002-12-25 | 冯建光 | Hydraulic walking vehicle |
| CN100408413C (en) * | 2003-05-07 | 2008-08-06 | 约瑟夫·康拉德 | Off-road vehicle comprising ambulatory limbs |
| CN103507787A (en) * | 2013-10-11 | 2014-01-15 | 山东理工大学 | Middle steering mechanism with auxiliary walking mechanism |
-
1987
- 1987-08-20 CN CN 87104152 patent/CN1007720B/en not_active Expired
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1096977C (en) * | 1994-02-20 | 2002-12-25 | 冯建光 | Hydraulic walking vehicle |
| CN100408413C (en) * | 2003-05-07 | 2008-08-06 | 约瑟夫·康拉德 | Off-road vehicle comprising ambulatory limbs |
| CN103507787A (en) * | 2013-10-11 | 2014-01-15 | 山东理工大学 | Middle steering mechanism with auxiliary walking mechanism |
| CN103507787B (en) * | 2013-10-11 | 2015-08-12 | 山东理工大学 | A kind of middle part steering hardware that auxiliary walking mechanism is housed |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1007720B (en) | 1990-04-25 |
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