CN103171644A - All-wheel drive walking mechanism of biomimetic six-wheeled leg - Google Patents
All-wheel drive walking mechanism of biomimetic six-wheeled leg Download PDFInfo
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- CN103171644A CN103171644A CN2013101086630A CN201310108663A CN103171644A CN 103171644 A CN103171644 A CN 103171644A CN 2013101086630 A CN2013101086630 A CN 2013101086630A CN 201310108663 A CN201310108663 A CN 201310108663A CN 103171644 A CN103171644 A CN 103171644A
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Abstract
The invention discloses an all-wheel drive walking mechanism of a biomimetic six-wheeled leg and aims to solve the problem that a plurality of sensors and complex control logic are adopted by the prior art. The all-wheel drive walking mechanism of the biomimetic six-wheeled leg comprises a front automobile frame, a back automobile frame, a middle freedom degree junction device, wheel legs and driving combination bodies. The wheel legs are a front left wheel leg, a middle left wheel leg, a back left wheel leg, a back right wheel leg, a middle right wheel leg and a front right wheel leg, and the driving combination bodies are a front left driving combination body, a middle left driving combination body, a back left driving combination body, a back right driving combination body, a middle right driving combination body and a front right driving combination body. The middle freedom degree junction device is installed on the middle position of a front base plate of the back automobile frame, the back end of the front automobile frame is connected with the front end of the back automobile frame in a rotating mode, and the front left driving combination body and the front right driving combination body are installed on the left position and the right position in front of the front automobile frame and are connected with the two front wheel legs, and the middle left driving combination body, the back left driving combination body, the back right driving combination body and the middle right driving combination body are installed on four corners of the back automobile frame and are connected with the other wheel legs.
Description
Technical field
The present invention relates to a kind of walking machine that belongs to the bio-robot application, or rather, the present invention relates to a kind of bionical six and take turns the leg six full driven traveling of motor mechanisms.
Background technology
For a long time, the rolling of wheel be it is believed that it is the simplest and the most natural form of motion, but has in recent years increasing people to begin to pay close attention to " leg " this movable machinery.Obviously, than wheel, leg has great advantage aspect obstacle detouring.A well known fact is, there is no ready-made hard pavement at occurring in nature, and the action of animal is cross-country behavior fully, can not find wheel or rotary joint in the system of animal movement own at all.Training gram (M.G.Bekker) as famous soil-mechanics of vehicles researcher says; " wheel becomes the reason of the transport establishment that generally uses not necessarily because its efficient is high, and may be because of the road that allows it to roll in the above ".But the greatest difficulty of exploitation legged mobile robot is real-time control to " leg ", and what this related to sensing, control, joint freedom degrees realizes the series of problems such as mechanism.In addition, leg formula machinery also has the drawback of a maximum to be that driving efficiency is low, and the kinematic velocity that can reach in other words is far below people's psychology expection.
Consider the limitation of pure wheel machine and pure leg formula machinery, people begin to consider " wheel " and " leg " are combined, to take into account speed and obstacle climbing ability.Its representative has Chinese patent bulletin (opening) number to be CN102649450A, and bulletin (opening) day is 2012.8.29 day, and application number is CN201210103257.0, and denomination of invention be " multi-joint chain-type robot ", invents the people and be the Luo Qingsheng of Beijing Institute of Technology etc.; Also have Chinese patent bulletin (opening) number to be CN102180205A, bulletin (opening) day is 2011.09.14, and application number is CN201110089738.6, and denomination of invention be " a kind of leg-wheel robot ", invents the people and be the Fu Sanling of University Of Science and Technology Of He'nan etc.Abroad, the RHex bionic cockroach robot of the Whegs series of U.S. Case Western Reserve University research and development and University of Michigan, UC Berkeley and the common development of Canadian McGill University is also representative more successful in the wheel leg type walking machine.But the common feature of above-mentioned achievement in research is to have adopted a lot of sensors and complicated control logic to realize motion process.
Summary of the invention
Technical matters to be solved by this invention is to have overcome the problem that prior art has adopted a lot of sensors and complicated control logic, provides bionical six to take turns leg and entirely drive traveling gear.
For solving the problems of the technologies described above, the present invention adopts following technical scheme to realize: described bionical six take turns leg entirely drives traveling gear and comprises wheel leg walking machine part.The described leg walking machine of taking turns partly comprises front vehicle frame, rear vehicle frame, middle part degree-of-freedom joint device, wheel leg and drives fabricate block.
The described leg of taking turns refers to front revolver leg, middle revolver leg, rear revolver leg, rear right wheel leg, right leg and the front right wheel leg of taking turns.
Described driving fabricate block refers to that front left drives fabricate block, left driving fabricate block, rear left driving fabricate block, rear right driving fabricate block, right driving fabricate block and front right and drives fabricate block.
Middle part degree-of-freedom joint device is fixedly installed in rear vehicle frame.the midway location of front end base plate, insert between the opening of rear vehicle frame front end the rear end of front vehicle frame, and adopt the pipe link in the degree-of-freedom joint device of middle part that both are rotationally connected, front left drives fabricate block and is arranged on the front left place of front vehicle frame and captives joint with front revolver leg, front right drives fabricate block and is arranged on the front right place of front vehicle frame and captives joint with the front right wheel leg, left driving fabricate block is arranged on the front left place of rear vehicle frame and captives joint with middle revolver leg, rear left drives fabricate block and is arranged on the rear left place of rear vehicle frame and captives joint with rear revolver leg, rear right drives fabricate block and is arranged on the rear right place of rear vehicle frame and captives joint with the rear right wheel leg, right driving fabricate block is arranged on the front right place of rear vehicle frame and captives joint with the right leg of taking turns.
Front left described in technical scheme drives fabricate block and comprises front left motor, front left test the speed code-disc and front left overriding clutch; Left driving fabricate block comprises left motor, left code-disc and the left overriding clutch of testing the speed; Rear left drives fabricate block and comprises rear left motor, rear left test the speed code-disc and rear left overriding clutch; Rear right drives fabricate block and comprises rear right motor, rear right test the speed code-disc and rear right overriding clutch; Right driving fabricate block comprises right motor, right code-disc and the right overriding clutch of testing the speed; Front right drives fabricate block and comprises front right motor, front right test the speed code-disc and front right overriding clutch; Front left drives fabricate block, left driving fabricate block is identical with the structure that rear left drives fabricate block, rear right drives fabricate block, right driving fabricate block is identical with the structure that front right drives fabricate block, and three, right side drives fabricate block and three, left side driving fabricate block is that mirror image is symmetrical; The front left code-disc that tests the speed is sleeved on and is captive joint on the output shaft of front left motor, and the output shaft of front left motor is captiveed joint with the input end of front left overriding clutch, and the mouth employing flange of front left overriding clutch is captiveed joint with front revolver leg with screw.
Middle part degree-of-freedom joint device described in technical scheme is comprised of pipe link, worm screw, worm gear, bearing, No. 1 needle bearing, No. 2 needle bearings No. 3 needle bearings identical with 2 structures.Described pipe link is to take at the center as symmetrical stepped shaft class part, the center of pipe link is processed with for the keyway that worm gear is installed, the both sides of keyway are provided with the positive hexagonal prism that is connected with the front vehicle frame rear end, and the outer end of two positive hexagonal prisms is for installing and No. 1 needle bearing that rear vehicle frame is rotationally connected and the cylinder of No. 2 needle bearings.Worm gear set be contained in horizontal positioned pipe link the center and adopt flat key to connect, worm screw adopts two No. 3 identical needle bearings of structure vertically to be arranged in two bearing holes on bearing as being rotationally connected, worm gear is connected with worm mesh.
Front revolver leg described in technical scheme, middle revolver leg are identical with rear revolver leg structure, rear right wheel leg, the right leg of taking turns are identical with front right wheel leg structure, 6 wheel legs all are comprised of three identical leg and wheel hubs of structure, each leg becomes L shaped, three legs be evenly distributed in wheel hub around and be connected with wheel hub, be that angle between adjacent two legs is 120 degree, each leg occupies the position of 60 degree central angles, the center of wheel hub is provided with ladder hole, is distributed with equably the tapped through hole for mounting flange around small through hole.
Front revolver leg described in technical scheme, rear revolver leg and the right leg of taking turns have identical gait on level road, middle revolver leg, rear right wheel leg and front right wheel leg have identical gait on level road, and these two groups phase differences of taking turns between leg are 60 degree.
Compared with prior art the invention has the beneficial effects as follows:
1. of the present invention bionical six take turns " the wheel leg " that leg drives in traveling gear full the motion agility of " wheel " the obstacle performance preceence with " leg " is combined, have advantages of both simultaneously.
2. of the present invention bionical six take turns the triangle gait planning that leg drives on level land in traveling gear entirely and guaranteed to travel steadily.
Of the present invention bionical six take turns leg when entirely driving the traveling gear obstacle detouring by adjusting gait, so that the gait during obstacle detouring has the obstacle climbing ability that obviously is better than wheel machine.
Of the present invention bionical six take turns leg entirely drive traveling gear by " middle part degree of freedom " further improve walking machine geometry crossing abilitys, the adverse efficiency that the Worm Wheel System pair is lower has brought more convenience.
5. of the present invention bionical six take turns and make steering procedure more flexible, light the adding of overriding clutch that leg drives traveling gear entirely.
6. of the present invention bionical six take turns leg and entirely drive traveling gear and take turns the information that code-disc was obtained of testing the speed corresponding to leg as the basic input of controlling with each, whole control logic is clear, and easily programming realizes.
Description of drawings
The present invention is further illustrated below in conjunction with accompanying drawing:
Fig. 1 of the present invention bionical six takes turns leg and entirely drives the axonometric projection graph that the traveling gear structure forms;
Fig. 2 of the present invention bionical six takes turns leg and entirely drives the axonometric projection graph that the structure of the wheel leg that adopts in traveling gear forms;
Fig. 3 of the present invention bionical six takes turns leg and entirely drives the axonometric projection graph that middle part degree-of-freedom joint apparatus structure that realizing of adopting in traveling gear be rotationally connected between front/rear frame forms;
Fig. 4-a of the present invention bionical six takes turns leg and entirely drives the front view that the wheel leg structure that adopts in traveling gear forms;
Fig. 4-b is the part sectional view at A-A place in Fig. 4-a.
in figure: 1. front vehicle frame, 2. front left motor, 3. the front left code-disc that tests the speed, 4. front left overriding clutch, 5. front revolver leg, 6. middle revolver leg, 7. left overriding clutch, 8. the left code-disc that tests the speed, 9. rear vehicle frame, 10. rear revolver leg, 11. rear left overriding clutch, the code-disc 12. rear left tests the speed, 13. rear left motor, 14. middle part degree-of-freedom joint motor, 15. rear right motor, 16. rear right wheel leg, 17. rear right overriding clutch, the code-disc 18. rear right tests the speed, 19. the right leg of taking turns, 20. the right code-disc that tests the speed, 21. right overriding clutch, 22. right motor, 23. pipe link, 24. worm screw, 25. worm gear, 26. front right wheel leg, 27. front right overriding clutch, the code-disc 28. front right tests the speed, 29. front right motor, 30. micro controller system, 31. bearing, 32. left motor, 33. flange, 39. screw, 40.1 number needle bearing, 41.2 number needle bearing, 42.3 number needle bearing.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is explained in detail:
Consult Fig. 1, of the present invention bionical six take turns leg entirely drives traveling gear and is comprised of with control part wheel leg walking machine part, wheel leg walking machine partly comprise front vehicle frame 1, rear vehicle frame 9, middle part degree-of-freedom joint device, six wheel legs, six drive fabricate blocks.
middle part degree-of-freedom joint device is fixedly installed in the midway location of rear vehicle frame 9 front end base plates, the rear portion width of front vehicle frame 1 is less than the width of rear vehicle frame 9, therefore can insert between the opening of rear vehicle frame 9 front ends, and adopt the pipe link 23 in the degree-of-freedom joint device of middle part that both are rotationally connected, front left drives fabricate block and is arranged on the front left place of front vehicle frame 1 and captives joint with front revolver leg 5, front right drives fabricate block and is arranged on the front right place of front vehicle frame 1 and captives joint with front right wheel leg 26, left driving fabricate block is arranged on the front left place of rear vehicle frame 9 and captives joint with middle revolver leg 6, rear left drives fabricate block and is arranged on the rear left place of rear vehicle frame 9 and captives joint with rear revolver leg 10, rear right drives fabricate block and is arranged on the rear right place of rear vehicle frame 9 and captives joint with rear right wheel leg 16, right driving fabricate block is arranged on the front right place of rear vehicle frame 9 and captives joint with the right leg 19 of taking turns.
Described front vehicle frame 1 and rear vehicle frame 9 are tower structure spare, and they are formed by fixedly connecting with rivet after adopting aluminum alloy plate materials line cutting processing.Adopting aluminum alloy plate materials is in order to alleviate the weight of vehicle frame, and in addition, perforate also is based on the consideration of expendable weight on the position of non-installation parts.
Insert between the front end of rear vehicle frame 9 rear end of front vehicle frame 1, and adopt the pipe link 23 of the middle part degree-of-freedom joint device in the through hole that inserts on front vehicle frame 1 rear end and rear vehicle frame 9 front ends that both are rotationally connected.Exactly, pipe link 23 and being connected of front vehicle frame 1 rear end are equipped connections of two positive six prism through holes on two sections positive hexagonal prisms and front vehicle frame 1 rear end by pipe link 23 both sides, center, and the front end of the two ends of pipe link 23 and rear vehicle frame 9 is that No. 1 needle bearing 40 of employing and No. 2 needle bearings 41 are rotationally connected.
Consult Fig. 3, described middle part degree-of-freedom joint device is comprised of pipe link 23, worm screw 24, worm gear 25, bearing 31, No. 1 needle bearing 40, No. 2 needle bearings 41 No. 3 needle bearings 42 identical with 2 structures.
Described pipe link 23 is to take at the center as symmetrical stepped shaft class part, the center of pipe link 23 is processed with keyway, adopt flat key to be connected connection with worm gear, the both sides of keyway are provided with the positive hexagonal prism that is connected with front vehicle frame 1 rear end, and the outer end of two positive hexagonal prisms is for installing and No. 1 needle bearing 40 that rear vehicle frame 9 front ends are rotationally connected and the cylinder of No. 2 needle bearings 41.
Described bearing 31 is comprised of base and C shape hold-down arm, base is captiveed joint with the symmetrical expression ground, bottom of C shape hold-down arm and is integral, two cantilever ends of C shape hold-down arm are provided with the bearing hole of No. 3 identical needle bearings 42 of two structures of installation, the rotation axis of the bearing hole that two structures are identical is at the vertical direction conllinear, and described bearing 31 is about the framing member of its longitudinal plane of symmetry for symmetrical aluminum alloy material.
Described worm screw 24 forms the Worm Wheel System pair afterwards with worm gear 25 assemblings, requires it to have auto-lock function.
Consult Fig. 2, the described leg of taking turns refers to front revolver leg 5 of the present invention, middle revolver leg 6, rear revolver leg 10, rear right wheel leg 16, right leg 19 and the front right wheel leg 26 of taking turns.Wherein, the structure of front revolver leg 5, middle revolver leg 6 and rear revolver leg 10 is identical, and rear right wheel leg 16, the right leg 19 of taking turns are taken turns leg mirror image symmetry with three, the left side with front right wheel leg 26 structures.Revolver leg 5 was the structure of example explanation wheel leg in the past.
Consult Fig. 4-a and Fig. 4-b, wheel leg is comprised of three " legs " and middle " wheel hub " part, and each leg becomes L shaped, three " leg " be evenly distributed in " wheel hub " around, three " legs " are connected with hub portion.Angle between adjacent two " leg " line of centerss is 120 degree, and the large end that each leg contacts with ground occupies the position of 60 degree central angles, and the connecting bridge of leg and " wheel hub " only accounts for 40 degree central angles, and this is in order to alleviate the weight of wheel leg.Three legs and ground contact portion have accounted for 180 degree, and this is spatially discontinuous, the concept that Here it is so-called " leg ".The center of " wheel hub " is provided with ladder hole, is evenly distributed with the tapped through hole that adopts screw 39 mounting flange 33 use around small through hole.
Consult Fig. 1, front revolver leg 5, rear revolver leg 10 and the right leg 19 of taking turns always have identical gait on level road, accordingly, middle revolver leg 6, rear right wheel leg 16 and front right wheel leg 26 always have identical gait on level road, these two groups phase differences of taking turns between leg are 60 degree, there are so at any time three wheel legs to contact with ground, the concept that Here it is so-called " wheel ".Stability when therefore, this design of taking turns leg has guaranteed to travel on the level land.
front left motor 2, left motor 32, rear left motor 13, rear right motor 15, on right motor 22 and front right motor 29 output shafts, the mouth of positive hexagonal prism is connected in the positive hexagon hole of identical with 6 structures flange 33 centers successively, the identical flange 33 of 6 structures respectively by the identical screw 39 of six structures successively with front revolver leg 5, middle revolver leg 6, rear revolver leg 10, rear right wheel leg 16, the right leg 19 of taking turns is connected with " wheel hub " of front right wheel leg 26, adopt again the identical bolt of six structures successively with front left motor 2, left motor 32, rear left motor 13, rear right motor 15, right motor 22 is connected with bolt hole on front right motor 29 output shaft end faces, revolver leg 5 before realizing, middle revolver leg 6, rear revolver leg 10, rear right wheel leg 16, right axial location of taking turns leg 19 and front right wheel leg 26.
Described driving fabricate block is comprised of motor, test the speed code-disc and overriding clutch.Exactly, drive fabricate block and refer to that front left drives fabricate block, left driving fabricate block, rear left driving fabricate block, rear right driving fabricate block, right driving fabricate block and front right and drives fabricate block.It is identical that three, left side drives composite unit structure, and mirror image is symmetrical with it for three driving fabricate blocks on right side.Drive fabricate block as example take front left, the front left code-disc 3 that tests the speed is sleeved on the output shaft of front left motor 2 as the output shaft of captive joint (bonding or interference fit all can), front left motor 2 with the inner ring (namely input end) of front left overriding clutch 4 by spline joint again, and the outer ring of front left overriding clutch 4 (namely mouth) captives joint with screw 39 by flange 33 with front revolver leg 5.Overriding clutch adopts the internal tooth ratchet-type, and is very common on bicycle, can the unidirectional delivery moment of torsion, and concrete structure is not being given unnecessary details at this.Front left motor 2, front right motor 29 are fixed in the place, two ends, left and right of front vehicle frame 1 base plate, and rear left motor 13, rear right motor 15, right motor 22 and left motor 32 are fixed in the Si Jiaochu of rear vehicle frame 9 base plates.
In order to copy the walking process of the Reptilias such as cockroach, consider simultaneously riding stability, bionical six take turns leg when entirely driving traveling gear and moving on the level land, front revolver leg 5, rear revolver leg 10 and the right leg 19 of taking turns always have identical gait, accordingly, middle revolver leg 6, rear right wheel leg 16 and front right wheel leg 26 always have identical gait on level road.As shown in accompanying drawing 2,4, wheel leg and overriding clutch mouth be connected the employing flange, this can guarantee the reliability and the stationarity that connect in driving process as far as possible.When the wheel leg has caused at the walking mechanism kinematic at the discontinuous construction of circumferencial direction, each takes turns leg is discontinuous with contacting of ground, according to " rut forms theory " in the automobile pass ability theory, compacting resistance when this is conducive to reduce walking machine and travels on bad road surface, and then the supporting crossing ability can improve traveling gear and travel on bad road surface the time.According to aforesaid arrangement, when travelling on level road, any time always has three wheel legs to land simultaneously, and this has just guaranteed that from how much bionical six take turns the stability that leg drives traveling gear entirely.
Therefore, bionical six take turns leg entirely drives the key that traveling gear controls and is to guarantee that front revolver leg 5, rear revolver leg 10 and the right leg 19 of taking turns have identical phase place, and middle revolver leg 6, rear right wheel leg 16 and front right wheel leg 26 have identical phase place.Take turns leg at each for this reason and near side of vehicle frame, the code-disc that tests the speed is housed all, for example, the rear right code-disc 18 that tests the speed is the velocity measurement mechanisms of rear right wheel leg 16, rear right test the speed code-disc 18 and rear right wheel leg 16 synchronous rotaries.With the luminotron of photoelectric tube and receptor each code-disc both sides of testing the speed that are placed in, can take turns in the leg rotation process at each and cyclic pulse signal be detected, the analysis by pulse signals i.e. the phase place of each road wheel leg as can be known.Control process take middle revolver leg 6 with the right leg 19 of taking turns for controlling benchmark, all the other are taken turns leg and coordinate mutually with middle revolver leg 6 and the right leg 19 of taking turns by regular.Concrete means are the dutycycles of taking turns the corresponding motor of leg by controlling each, and each takes turns the phase difference of leg Real Time Monitoring, realizes the maintenance of aforementioned phase difference by controlled reset.Following brief description control logic.Right motor 22 dutycycles equal speed of a motor vehicle dutycycle and add the phase place dutycycle, and left motor 32 dutycycles equal speed of a motor vehicle dutycycle and deduct the phase place dutycycle, and the phase place dutycycle equals middle revolver leg 6 and multiply by a coefficient with right leg 19 phase differences of taking turns.Front right motor 29 dutycycles equal left motor 32 dutycycles and add that middle revolver leg 6, front right wheel leg 26 phase differences multiply by a coefficient, and front left motor 2 dutycycles equal right motor 22 dutycycles and add that front revolver leg 5, right leg 19 phase differences of taking turns multiply by a coefficient.The control of rear revolver leg 10, rear right wheel leg 16 similarly no longer repeats.Here must be noted that, do not need in steering procedure to guarantee aforementioned phase difference, that is to say that phase preserving only need to carry out when steering angle is 0.
Consult Fig. 1, by shown in figure, front revolver leg 5, rear revolver leg 10 and the right leg 19 of taking turns have identical phase place (claiming phase place one) as can be known, middle revolver leg 6, rear right wheel leg 16 and front right wheel leg 26 have identical phase place (claiming phase place two), and the phase difference of 60 degree is arranged between phase place one and phase place two.A pair of front revolver leg 5 is example, the gait planning when obstacle detouring is described with front right wheel leg 26 to the below take the foremost.Take turns leg when entirely driving traveling gear and running into obstacle when bionical six, always one of them is taken turns leg (might as well be assumed to be front revolver leg 5) and first contacts with obstacle.If the moment of torsion that this moment, a front left motor 2 provided is enough to overcome the resisting moment that acts on front revolver leg 5, walking machine can move on certainly so; If the drive torque that this moment, resisting moment provided greater than a motor, walking machine can not move under this gait planning, but, as long as this moment, front right wheel leg 26 turned over 60 degree (before this moment, revolver leg 5 can't move) in advance with respect to front revolver leg 5, make front revolver leg 5 be in same phase place with front right wheel leg 26, will make walking machine have more drive torque to overcome this obstacle.After crossing this obstacle, must allow front revolver leg 5 with respect to front right wheel leg 26 60 degree that turned round, with recover normal on the level land gait planning during walking.Use a benefit of electric machine control to be, when crossing over general obstacle (height is less than wheel leg radius), without any need for control just can realize the conversion of gait.Bionical six take turns leg drives in the traveling gear traveling process entirely, and after running into general obstacle, former revolver leg 5 is example with front right wheel leg 26, always has a wheel leg first to contact with obstacle, might as well be assumed to be front revolver leg 5.If the moment of torsion that this moment, front left motor 2 provided is enough to overcome the resisting moment that acts on front revolver leg 5, walking machine can move on certainly so; If the drive torque that this moment, resisting moment provided greater than a motor, walking machine can not move under this gait planning.This moment, front left motor 2 will stall, but front right motor 29 continues electricly and normal operation, front right wheel leg 26 will automatically turn over 60 degree with respect to front revolver leg 5 in advance so, make front revolver leg 5 be in same phase place with front right wheel leg 26, will make walking machine have more drive torque to overcome this obstacle.After crossing this obstacle, photoelectric tube will detect front revolver leg 5 and the synchronous operated phase place of front right wheel leg 26, at this moment, must control front left motor 2 dutycycles by micro controller system 30, make front revolver leg 5 with respect to front right wheel leg 26 60 degree that turned round, with recover normal on the level land gait planning during walking.
As shown in Figure 3, when traveling gear runs into a higher obstacle, middle part degree-of-freedom joint motor 14 electric, drive worm screw 24 rotations, by worm and gear slows down increase turn round after, worm gear 25 rotates, and drives pipe link 23 and rotates.By front described, front vehicle frame 1 will rotate a certain angle with respect to rear vehicle frame 9 this moment, make front revolver leg 5 and the front right wheel leg 26 on front vehicle frame 1 can be with on obstacle contacts, after this, traveling gear can be crossed a height greater than the obstacle of its front revolver leg 5 or front right wheel leg 26 radiuses.Obviously, traditional wheel machine is impossible cross such obstacle.
The implementation of said process is as follows, when traveling gear runs into a higher obstacle, controlling middle part degree-of-freedom joint motor 14 by micro controller system 30 gets electric, drive worm screw 24 rotations after 14 runnings of middle part degree-of-freedom joint motor, by worm and gear slow down increase turn round after, worm gear 25 rotates, and drives pipe link 23 rotations, then makes front vehicle frame 1 rotate to an angle with respect to rear vehicle frame 9.
The big speed ratio of Worm Wheel System pair can guarantee that front vehicle frame 1 can be very not fast with respect to the reverse speed of rear vehicle frame 9, has guaranteed that simultaneously pipe link 23 can provide enough large moment of torsion to lift front vehicle frame 1.Adopt another benefit of Worm Wheel System pair to be, in the time of on level road, can not stay with respect to latter half because vibration makes first half, this is due to the adverse efficiency of worm and gear very low guaranteed.
The another one problem is how to allow micro controller system 30 these operating modes of identification, and this will realize by means of the code-disc that tests the speed equally.When traveling gear runs into a height greater than the obstacle of wheel leg radius, if do not allow front vehicle frame 1 reverse with respect to rear vehicle frame 9, front left motor 2 or front right motor 29 will stalls, the photoelectric tube of code-disc of testing the speed so will can't detect pulse, but one section continuous high level or low level (this depends on the programming with micro controller system 30) appear, just can judge accordingly need to make this moment middle part degree-of-freedom joint motor 14 electric.Take turns leg when entirely driving traveling gear success clear an obstacle when bionical six, photoelectric tube will detect pulse current again, needing at this moment again to control middle part degree-of-freedom joint motor 14 by micro controller system 30 gets electric, make middle part degree-of-freedom joint motor 14 antiports, drive worm screw 24 contrarotations, by worm and gear slow down increase turn round after, worm gear 25 backward rotation, drive pipe link 23 contrarotations, then make front vehicle frame 1 return to rear vehicle frame 9 and be positioned at same plane.
Turning to of traveling gear of the present invention is to realize with the speed discrepancy of front right motor 29 by controlling front left motor 2.When turning to, for simplicity, allow middle revolver leg 6, rear revolver leg 10, rear right wheel leg 16 and the right leg 19 of taking turns freely rotate.This installs an overriding clutch and realizes by taking turns at each between leg and its drive motor, and these overriding clutchs are front left overriding clutch 4, left overriding clutch 7, rear left overriding clutch 11, rear right overriding clutch 17, right overriding clutch 21 and front right overriding clutch 27.When needs turn to, allow left motor 32, right motor 22, rear left motor 13 on tween drive shaft and rear axle all reverse with rear right motor 15, by the character of overriding clutch as can be known, revolver leg 6, rear revolver leg 10, rear right wheel leg 16 and rightly take turns the driving that leg 19 is not subject to left motor 32, rear left motor 13, rear right motor 15 and right motor 22 in this moment, but realize turning under the drive of two front revolver legs that are activated 5 and front right wheel leg 26 in front.This layout makes the resistance when turning to greatly reduce.The specific implementation process is recently regulated realization by duty equally.Definition turns to dutycycle to equal speed of a motor vehicle dutycycle and multiply by steer coefficient, and steer coefficient can get 0, ± 0.1, ± 0.2, ± 0.3, ± 0.4.Front right motor 29 dutycycles equal speed of a motor vehicle dutycycle and add and turn to dutycycle so, and front left motor 2 dutycycles equal speed of a motor vehicle dutycycle and deduct and turn to dutycycle.The selection of steer coefficient is corresponding to different Turning radiuss, and this need to demarcate by prior experiment, coupling.
Claims (5)
1. take turns leg and entirely drive traveling gear for one kind bionical six, comprise wheel leg walking machine part, it is characterized in that, the described leg walking machine of taking turns partly comprises front vehicle frame (1), rear vehicle frame (9), middle part degree-of-freedom joint device, wheel leg and drives fabricate block;
The described leg of taking turns refers to front revolver leg (5), middle revolver leg (6), rear revolver leg (10), rear right wheel leg (16), right leg (19) and the front right wheel leg (26) of taking turns;
Described driving fabricate block refers to that front left drives fabricate block, left driving fabricate block, rear left driving fabricate block, rear right driving fabricate block, right driving fabricate block and front right and drives fabricate block;
middle part degree-of-freedom joint device is fixedly installed in the midway location of rear vehicle frame (9) front end base plate, insert between the opening of rear vehicle frame (9) front end the rear end of front vehicle frame (1), and adopt the pipe link (23) in the degree-of-freedom joint device of middle part that both are rotationally connected, front left drives fabricate block and is arranged on the front left place of front vehicle frame (1) and captives joint with front revolver leg (5), front right drives fabricate block and is arranged on the front right place of front vehicle frame (1) and captives joint with front right wheel leg (26), left driving fabricate block is arranged on the front left place of rear vehicle frame (9) and captives joint with middle revolver leg (6), rear left drives fabricate block and is arranged on the rear left place of rear vehicle frame (9) and captives joint with rear revolver leg (10), rear right drives fabricate block and is arranged on the rear right place of rear vehicle frame (9) and captives joint with rear right wheel leg (16), right driving fabricate block is arranged on the front right place of rear vehicle frame (9) and captives joint with the right leg (19) of taking turns.
2. take turns leg according to claimed in claim 1 bionical six and entirely drive traveling gear, it is characterized in that, described front left drives fabricate block and comprises front left motor (2), front left test the speed code-disc (3) and front left overriding clutch (4); Left driving fabricate block comprises left motor (32), the left code-disc that tests the speed (8) and left overriding clutch (7); Rear left drives fabricate block and comprises rear left motor (13), rear left test the speed code-disc (12) and rear left overriding clutch (11); Rear right drives fabricate block and comprises rear right motor (15), rear right test the speed code-disc (18) and rear right overriding clutch (17); Right driving fabricate block comprises right motor (22), the right code-disc that tests the speed (20) and right overriding clutch (21); Front right drives fabricate block and comprises front right motor (29), front right test the speed code-disc (28) and front right overriding clutch (27); Front left drives fabricate block, left driving fabricate block is identical with the structure that rear left drives fabricate block, rear right drives fabricate block, right driving fabricate block is identical with the structure that front right drives fabricate block, and three, right side drives fabricate block and three, left side driving fabricate block is that mirror image is symmetrical; The front left code-disc (3) that tests the speed is sleeved on and is captive joint on the output shaft of front left motor (2), the output shaft of front left motor (2) is captiveed joint with the input end of front left overriding clutch (4), and the mouth of front left overriding clutch (4) adopts flange (33) to captive joint with front revolver leg (5) with screw (39).
3. take turns leg according to claimed in claim 1 bionical six and entirely drive traveling gear, it is characterized in that, described middle part degree-of-freedom joint device is comprised of pipe link (23), worm screw (24), worm gear (25), bearing (31), No. 1 needle bearing (40), No. 2 needle bearings (41) No. 3 needle bearings (42) identical with 2 structures;
Described pipe link (23) is to take at the center as symmetrical stepped shaft class part, the center of pipe link (23) is processed with for the keyway that worm gear (25) is installed, the both sides of keyway are provided with the positive hexagonal prism that is connected with front vehicle frame (1) rear end, and the outer end of two positive hexagonal prisms is for installing and No. 1 needle bearing (40) that rear vehicle frame (9) is rotationally connected and the cylinder of No. 2 needle bearings (41);
Worm gear (25) be sleeved on horizontal positioned pipe link (23) the center and adopt flat key to connect, two bearing holes that worm screw (24) adopts two identical No. 3 needle bearings (42) of structure vertically to be arranged on bearing (31) are interior for being rotationally connected, and worm gear (25) is connected with a joggle with worm screw (24).
4. take turns leg according to claimed in claim 1 bionical six and entirely drive traveling gear, it is characterized in that, described front revolver leg (5), middle revolver leg (6) is identical with rear revolver leg (10) structure, rear right wheel leg (16), the right leg (19) of taking turns is identical with front right wheel leg (26) structure, 6 wheel legs all are comprised of three identical leg and wheel hubs of structure, each leg becomes L shaped, three legs be evenly distributed in wheel hub around and be connected with wheel hub, be that angle between adjacent two legs is 120 degree, each leg occupies the position of 60 degree central angles, the center of wheel hub is provided with ladder hole, be distributed with equably the tapped through hole for mounting flange (33) around small through hole.
5. take turns leg according to claimed in claim 1 bionical six and entirely drive traveling gear, it is characterized in that, described front revolver leg (5), rear revolver leg (10) and the right leg (19) of taking turns have identical gait on level road, middle revolver leg (6), rear right wheel leg (16) and front right wheel leg (26) have identical gait on level road, and these two groups phase differences of taking turns between leg are 60 degree.
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| CN201310108663.0A CN103171644B (en) | 2013-03-31 | 2013-03-31 | Bionical six take turns leg drives traveling gear entirely |
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| CN201310108663.0A CN103171644B (en) | 2013-03-31 | 2013-03-31 | Bionical six take turns leg drives traveling gear entirely |
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| CN108890686B (en) * | 2018-07-09 | 2021-03-09 | 白捷东 | Caterpillar robot with variable gravity center |
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