CN103171644B - Bionical six take turns leg drives traveling gear entirely - Google Patents
Bionical six take turns leg drives traveling gear entirely Download PDFInfo
- Publication number
- CN103171644B CN103171644B CN201310108663.0A CN201310108663A CN103171644B CN 103171644 B CN103171644 B CN 103171644B CN 201310108663 A CN201310108663 A CN 201310108663A CN 103171644 B CN103171644 B CN 103171644B
- Authority
- CN
- China
- Prior art keywords
- leg
- fabricate block
- wheel
- revolver
- drives
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The invention discloses a kind of bionical six to take turns leg and entirely drive traveling gear, be intended to overcome the problem that prior art adopts a lot of sensor and complex control logic.The wheel leg walking machine part of full driving traveling gear comprises front vehicle frame, Rear frame, middle part degree-of-freedom joint device, wheel leg and drives fabricate block.Wheel leg refers to front revolver leg, middle revolver leg, rear revolver leg, rear right wheel leg, middlely rightly takes turns leg and front right wheel leg; Front left drives fabricate block, middle left driving fabricate block, rear left to drive fabricate block, rear right to drive fabricate block, middle right driving fabricate block and front right to drive fabricate block to drive fabricate block to refer to.Middle part degree-of-freedom joint device is installed on Rear frame noseplate midway location, front vehicle frame rear end and Rear frame front end are rotationally connected, front left drives fabricate block to drive fabricate block to be arranged on front vehicle frame front left and right place with front right and two front-wheel legs are connected, and middle left driving fabricate block, rear left driving fabricate block, rear right driving fabricate block and middle right driving fabricate block are arranged on Rear frame corner and other is taken turns leg and is connected.
Description
Technical field
The present invention relates to a kind of walking machine belonging to bio-robot application, or rather, the present invention relates to a kind of bionical six and take turns the full driven traveling mechanism of leg six motor.
Background technology
For a long time, the rolling of wheel be it is believed that it is the simplest of motion and the most natural form, but has increasing people to start to pay close attention to " leg " this movable machinery in recent years.Obviously, compared to wheel, leg has great advantage in obstacle detouring.A well known fact does not have ready-made hard pavement at occurring in nature, and the action of animal is cross-country behavior completely, in the system of animal movement own, can not find wheel or rotary joint at all.Sayed as famous soil-mechanics of vehicles researcher training gram (M.G.Bekker); " wheel becomes the reason of the transport establishment generally applied not necessarily because its efficiency is high, and may be because allow the road that it rolls above ".But the real-time control that the greatest difficulty of exploitation legged mobile robot is " leg ", this relate to sensing, control, joint freedom degrees realize the series of problems such as mechanism.In addition, leg formula machinery also has a maximum drawback to be that driving efficiency is low, and the kinematic velocity that can reach in other words is far below the in-mind anticipation of people.
Consider the limitation of pure wheel machine and pure leg formula machinery, people start to consider " wheel " to be combined with " leg ", to take into account speed and obstacle climbing ability.It is CN102649450A that its representative has Chinese patent to announce (opening) number, bulletin (opening) day is 2012.8.29 day, application number is CN201210103257.0, and denomination of invention is " multi-joint chain-type robot ", and invention people is the Luo Qingsheng etc. of Beijing Institute of Technology; Chinese patent bulletin (opening) number is also had to be CN102180205A, bulletin (opening) day is 2011.09.14, application number is CN201110089738.6, and denomination of invention is " a kind of leg-wheel robot ", and invention people is the Fu Sanling etc. of University Of Science and Technology Of He'nan.Abroad, the RHex bionic cockroach robot that the Whegs series researched and developed of U.S. Case Western Reserve University and University of Michigan, UC Berkeley and Canadian McGill University develop jointly is also more successfully represent in wheel leg type walking machine.But the common feature of above-mentioned achievement in research have employed a lot of sensor with complicated control logic to realize motion process.
Summary of the invention
Technical matters to be solved by this invention overcomes the problem that prior art have employed a lot of sensor and complicated control logic, provides bionical six and 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 drives traveling gear to comprise wheel leg walking machine part entirely.Described wheel leg walking machine part comprises front vehicle frame, Rear frame, middle part degree-of-freedom joint device, wheel leg and drives fabricate block.
Described wheel leg refers to front revolver leg, middle revolver leg, rear revolver leg, rear right wheel leg, middlely rightly takes turns leg and front right wheel leg.
Described driving fabricate block refers to that front left drives fabricate block, middle left driving fabricate block, rear left to drive fabricate block, rear right to drive fabricate block, middle right driving fabricate block and front right to drive fabricate block.
Middle part degree-of-freedom joint device is fixedly installed in Rear frame.The midway location of front end base plate, the rear end of front vehicle frame is inserted between the opening of Rear frame front end, and adopt the pipe link in the degree-of-freedom joint device of middle part both to be rotationally connected, front left drives fabricate block be arranged on the front left place of front vehicle frame and be fixedly connected with front revolver leg, front right drives fabricate block be arranged on the front right place of front vehicle frame and be fixedly connected with front right wheel leg, middle left driving fabricate block is arranged on the front left place of Rear frame and is fixedly connected with middle revolver leg, rear left drives fabricate block be arranged on the rear left place of Rear frame and be fixedly connected with rear revolver leg, rear right drives fabricate block be arranged on the rear right place of Rear frame and be fixedly connected with rear right wheel leg, middle right driving fabricate block is arranged on the front right place of Rear frame and is fixedly connected with middle right leg of taking turns,
Fabricate block comprises front left motor, front left tests the speed code-disc and front left overriding clutch in described front left driving; Middle left driving fabricate block comprises middle left motor, code-disc is tested the speed on a middle left side and middle left overriding clutch; Fabricate block comprises rear left motor, rear left tests the speed code-disc and rear left overriding clutch in rear left driving; Fabricate block comprises rear right motor, rear right tests the speed code-disc and rear right overriding clutch in rear right driving; Middle right driving fabricate block comprises middle right motor, code-disc is tested the speed on the middle right side and middle right overriding clutch; Fabricate block comprises front right motor, front right tests the speed code-disc and front right overriding clutch in front right driving; Front left drives fabricate block, middle left driving fabricate block drives the structure of fabricate block identical with rear left, rear right drives fabricate block, middle right driving fabricate block drives the structure of fabricate block identical with front right, and three, right side drives fabricate block and three, left side to drive fabricate block to be specular; Front left tests the speed for being fixedly connected with on output shaft that code-disc is sleeved on front left motor, and the output shaft of front left motor is fixedly connected with the input end of front left overriding clutch, and the mouth of front left overriding clutch adopts flange to be fixedly connected with front revolver leg with screw.
Middle part degree-of-freedom joint device described in technical scheme is made up of pipe link, worm screw, worm gear, bearing, No. 1 needle bearing, No. 3 needle bearings that No. 2 needle bearings are identical with 2 structures.Described pipe link Shi Yi center is symmetrical stepped shaft like members, the center of pipe link is processed with the keyway for installing worm gear, the both sides of keyway are provided with the positive hexagonal prism be connected with front vehicle frame rear end, and the outer end of two positive hexagonal prisms is the cylinders for installing No. 1 needle bearing and No. 2 needle bearings be rotationally connected with Rear frame.Worm gear set is contained in the center of the pipe link of horizontal positioned and adopts flat key to connect, and No. 3 needle bearings that worm screw adopts two structures identical are vertically arranged on for being rotationally connected in two bearing holes on bearing, and 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, middle right leg of taking turns are identical with front right wheel leg structure, 6 wheel legs are all made up of the identical leg of three structures and wheel hub, each leg becomes L shape, three legs are evenly distributed in the surrounding of wheel hub and are connected with wheel hub, namely the angle between adjacent two legs is 120 degree, each leg occupies the position of 60 degree of central angles, the center of wheel hub is provided with ladder hole, and the surrounding of small through hole is distributed with the tapped through hole for mounting flange equably.
Front revolver leg described in technical scheme, rear revolver leg and middle right leg of taking turns have identical gait on level road, and middle revolver leg, rear right wheel leg and front right wheel leg have identical gait on level road, and the phase difference between these two groups wheel legs is 60 degree.
Compared with prior art the invention has the beneficial effects as follows:
1. of the present invention bionical six take turns leg and entirely drive " wheel leg " in traveling gear the motion agility of " wheel " to be combined with the obstacle performance preceence of " leg ", there is the advantage of the two simultaneously.
2. of the present invention bionical six take turns leg and entirely drive the triangle gait planning on the level land in traveling gear to ensure that smooth ride.
3. of the present invention bionical six to take turns when leg drives traveling gear obstacle detouring entirely by adjustment gait, with gait when making obstacle detouring, there is the obstacle climbing ability being obviously better than wheel machine.
4. of the present invention bionical six take turns leg entirely drive traveling gear to pass through geometry crossing ability that " middle part degree of freedom " improves walking machine further, the secondary lower adverse efficiency of Worm Wheel System then brings more convenience.
5. of the present invention bionical six take turns leg and entirely drive make steering procedure more flexible, light adding of the overriding clutch of traveling gear.
6. of the present invention bionical six take turns leg and entirely drive traveling gear to take turns information that the code-disc that tests the speed corresponding to leg obtain as the basic input controlled using each, whole control logic is clear, easy programming realization.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further illustrated:
Fig. 1 is of the present invention bionical six axonometric projection graphs of taking turns that leg drives traveling gear structure to form entirely;
Fig. 2 takes turns the axonometric projection graph that leg drives the structure of the wheel leg adopted in traveling gear to form entirely for of the present invention bionical six;
Fig. 3 takes turns the axonometric projection graph that leg drives the middle part degree-of-freedom joint apparatus structure realizing being rotationally connected between the front/rear frame composition adopted in traveling gear entirely for of the present invention bionical six;
Fig. 4-a for of the present invention bionical six take turns leg entirely drive adopt in traveling gear wheel leg structure composition front view;
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. front left tests the speed code-disc, 4. front left overriding clutch, 5. revolver leg before, 6. revolver leg in, 7. left overriding clutch in, 8. in, test the speed code-disc on a left side, 9. Rear frame, 10. revolver leg after, 11. rear left overriding clutchs, 12. rear lefts test the speed code-disc, 13. rear left motors, degree-of-freedom joint motor in the middle part of in the of 14., 15. rear right motors, 16. rear right wheel legs, 17. rear right overriding clutchs, 18. rear rights test the speed code-disc, rightly in 19. take turns leg, in 20., test the speed code-disc on the right side, right overriding clutch in 21., right motor in 22., 23. pipe links, 24. worm screws, 25. worm gears, 26. front right wheel legs, 27. front right overriding clutchs, 28. front rights test the speed code-disc, 29. front right motors, 30. micro controller systems, 31. bearings, left motor in 32., 33. flanges, 39. screws, 40.1 number needle bearing, 41.2 number needle bearing, 42.3 number needle bearing.
Detailed description of the invention
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 drives traveling gear by taking turns leg walking machine part and control part forms entirely, wheel leg walking machine part comprise front vehicle frame 1, Rear 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 frame 9 front end base plate, the rear portion width of front vehicle frame 1 is less than the width of Rear frame 9, between the opening that therefore can insert Rear frame 9 front end, and adopt the pipe link 23 in the degree-of-freedom joint device of middle part both to be rotationally connected, front left drives fabricate block be arranged on the front left place of front vehicle frame 1 and be fixedly connected with front revolver leg 5, front right drives fabricate block be arranged on the front right place of front vehicle frame 1 and be fixedly connected with front right wheel leg 26, middle left driving fabricate block is arranged on the front left place of Rear frame 9 and is fixedly connected with middle revolver leg 6, rear left drives fabricate block be arranged on the rear left place of Rear frame 9 and be fixedly connected with rear revolver leg 10, rear right drives fabricate block be arranged on the rear right place of Rear frame 9 and be fixedly connected with rear right wheel leg 16, middle right driving fabricate block is arranged on the front right place of Rear frame 9 and is fixedly connected with middle right leg 19 of taking turns.
Described front vehicle frame 1 and Rear frame 9 are tower structure part, and they are formed by fixedly connecting with rivet after adopting aluminum alloy plate materials linear cutter.Employing aluminum alloy plate materials is the weight in order to alleviate vehicle frame, and in addition, on the position of non-installation parts, perforate is also the consideration based on expendable weight.
The rear end of front vehicle frame 1 is inserted between the front end of Rear frame 9, and adopts the pipe link 23 of the middle part degree-of-freedom joint device in the through hole inserted on front vehicle frame 1 rear end and Rear frame 9 front end both to be rotationally connected.Exactly, pipe link 23 and the connection of front vehicle frame 1 rear end are connected with the positive six prism through holes of two on front vehicle frame 1 rear end are equipped by two sections of positive hexagonal prisms of both sides, pipe link 23 center, and the two ends of pipe link 23 and the front end of Rear frame 9 are that employing No. 1 needle bearing 40 and No. 2 needle bearings 41 are rotationally connected.
Consult Fig. 3, described middle part degree-of-freedom joint device is made up of pipe link 23, worm screw 24, worm gear 25, No. 3 needle bearings 42 that bearing 31, No. 1 needle bearing 40, No. 2 needle bearings 41 are identical with 2 structures.
Described pipe link 23 Shi Yi center is symmetrical stepped shaft like members, the center of pipe link 23 is processed with keyway, flat key is adopted to be connected with worm gear 25, the both sides of keyway are provided with the positive hexagonal prism be connected with front vehicle frame 1 rear end, and the outer end of two positive hexagonal prisms is the cylinders for installing No. 1 needle bearing 40 and No. 2 needle bearings 41 be rotationally connected with Rear frame 9 front end.
Described bearing 31 is made up of base and C shape hold-down arm, be fixedly connected with integral the bottom symmetrical expression of base and C shape hold-down arm, two cantilever ends of C shape hold-down arm are provided with the bearing hole of No. 3 identical needle bearings 42 of installation two structures, the rotation axis of the bearing hole that two structures are identical is at vertical direction conllinear, and described bearing 31 is the framing member of symmetrical aluminum alloy material about its longitudinal plane of symmetry.
Described worm screw 24 forms Worm Wheel System pair after assembling with worm gear 25, requires that it has auto-lock function.
Worm gear 25 is sleeved on the center of pipe link 23 and adopts flat key to connect, worm gear 25 and worm screw 24 are connected with a joggle, No. 3 needle bearings 42 that worm screw 24 adopts two structures identical are vertically arranged on for being rotationally connected in two bearing holes on bearing 31, and bearing 31 is fixedly installed in the midway location of Rear frame 9 front end base plate by its base.
Consult Fig. 2, described wheel leg refers to front revolver leg 5 of the present invention, middle revolver leg 6, rear revolver leg 10, rear right wheel leg 16, middlely rightly takes turns leg 19 and front right wheel leg 26.Wherein, front revolver leg 5, middle revolver leg 6 are identical with the structure of rear revolver leg 10, and rear right wheel leg 16, middle right leg 19 of taking turns then take turns leg specular with three, the left side with front right wheel leg 26 structure.Revolver leg 5 was the structure of example explanation wheel leg in the past.
Consult Fig. 4-a and Fig. 4-b, a wheel leg is made up of three " legs " and middle " wheel hub " part, and each leg becomes L shape, and three " legs " are evenly distributed in " wheel hub " around, and three " legs " are connected with hub portion.Angle between adjacent two " leg " line of centerss is 120 degree, and the large end of each leg and earth surface occupies the position of 60 degree of central angles, and leg and the connecting bridge of " wheel hub " only account for 40 degree of central angles, and this is the weight in order to alleviate wheel leg.Three legs and ground contact portion account 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, and the surrounding of small through hole is evenly distributed with the tapped through hole adopting screw 39 mounting flange 33.
Consult Fig. 1, front revolver leg 5, rear revolver leg 10 and middle 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, phase difference between these two groups wheel legs is then 60 degree, three are had to take turns leg and earth surface, the concept that Here it is so-called " wheel " so at any time.Therefore, this design taking turns leg ensure that stability when level land travels.
Front left motor 2, middle left motor 32, rear left motor 13, rear right motor 15, the positive hexagon hole of flange 33 center that the mouth of middle right motor 22 and hexagonal prism positive on front right motor 29 output shaft is identical with 6 structures is successively connected, 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, middle right leg 19 of taking turns is connected with " wheel hub " of front right wheel leg 26, the bolt adopting six structures identical more successively with front left motor 2, middle left motor 32, rear left motor 13, rear right motor 15, middle right motor 22 is connected with the bolt hole on front right motor 29 output shaft end face, revolver leg 5 before realizing, middle revolver leg 6, rear revolver leg 10, rear right wheel leg 16, middle right axial location of taking turns leg 19 and front right wheel leg 26.
Described driving fabricate block is made up of motor, test the speed code-disc and overriding clutch.Exactly, front left drives fabricate block, middle left driving fabricate block, rear left to drive fabricate block, rear right to drive fabricate block, middle right driving fabricate block and front right to drive fabricate block to drive fabricate block to refer to.Three, left side drives composite unit structures identical, and three of right side drive fabricate blocks then specular with it.Fabricate block is driven for front left, front left test the speed on output shaft that code-disc 3 is sleeved on front left motor 2 for be fixedly connected with (bonding or interference fit), front left motor 2 output shaft again with the inner ring (namely input end) of front left overriding clutch 4 by spline joint, the outer ring (namely mouth) of front left overriding clutch 4 is fixedly connected with screw 39 by flange 33 with front revolver leg 5.Overriding clutch adopts internal tooth ratchet-type, very common on bicycle, can unidirectional delivery moment of torsion, and concrete structure is not repeating at this.Front left motor 2, front right motor 29 are fixed on two ends, the left and right place of front vehicle frame 1 base plate, and rear left motor 13, rear right motor 15, middle right motor 22 and middle left motor 32 are fixed on the corner place of Rear frame 9 base plate.
In order to copy the walking process of the Reptilias such as cockroach, consider riding stability simultaneously, bionical six take turns leg drives traveling gear when flat overground locomotion entirely, front revolver leg 5, rear revolver leg 10 and middle 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 the connection of overriding clutch mouth adopt flange, and this can ensure the reliability that connects in driving process and stationarity as far as possible.Wheel leg result in when walking mechanism kinematic at the discontinuous construction of circumferencial direction, each contact taking turns leg and ground is discontinuous, according to " rut forms theory " in automobile pass ability theory, this is conducive to reducing compacting resistance when walking machine travels on bad road surface, and then can improve supporting crossing ability when traveling gear travels on bad road surface.According to aforesaid arrangement, when level road travels, any time always has three wheel legs to land simultaneously, and this is just from geometrically ensure that bionical six take turns the stability that leg drives traveling gear entirely.
Therefore, bionical six take turns the key that leg drives traveling gear to control entirely is to ensure that front revolver leg 5, rear revolver leg 10 and middle 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.Near the side of vehicle frame, the code-disc that tests the speed all is housed at each leg of taking turns, such as, the rear right code-disc 18 that tests the speed is the velocity measurement mechanisms of rear right wheel leg 16 for this reason, and rear right tests the speed code-disc 18 and rear right wheel leg 16 synchronous rotary.Be placed in the luminotron of photoelectric tube and receptor each code-disc both sides of testing the speed, and cyclic pulse signal can be detected each wheel in leg rotation process, by the analysis of pulse signals and the phase place of known each road wheel leg.Control process with middle revolver leg 6 with middle right leg 19 of taking turns for control benchmark, all the other are taken turns leg and regularly coordinate mutually with middle revolver leg 6 and middle right leg 19 of taking turns.Concrete means are by controlling each dutycycle of taking turns the corresponding motor of leg, monitoring the phase difference that each takes turns leg in real time, realized the maintenance of Such phase differences by controlled reset.Brief description control logic below.Middle right motor 22 dutycycle equals speed of a motor vehicle dutycycle and adds phase place dutycycle, and middle left motor 32 dutycycle equals speed of a motor vehicle dutycycle and deducts phase place dutycycle, and phase place dutycycle equals middle revolver leg 6 and is multiplied by a coefficient with middle right leg 19 phase difference of taking turns.Front right motor 29 dutycycle equals that middle left motor 32 dutycycle adds upper revolver leg 6, front right wheel leg 26 phase difference is multiplied by a coefficient, and front left motor 2 dutycycle equals that middle right motor 22 dutycycle adds front revolver leg 5, middle right leg 19 phase difference of taking turns is multiplied by a coefficient.The control of rear revolver leg 10, rear right wheel leg 16 is similar, no longer repeats.Here must be noted that, do not need to ensure Such phase differences in steering procedure, that is phase place keeps only needing at steering angle is carry out when 0.
Consult Fig. 1, by front revolver leg 5 known shown in figure, rear revolver leg 10 and middle right leg 19 of taking turns, there is identical phase place (claiming phase place one), middle revolver leg 6, rear right wheel leg 16 and front right wheel leg 26 have identical phase place (claiming phase place two), and have the phase difference of 60 degree between phase place one and phase place two.Below for revolver leg before foremost a pair 5 and front right wheel leg 26, gait planning during obstacle detouring is described.When bionical six take turns leg entirely drive traveling gear to run into obstacle time, always one of them takes turns leg (might as well be assumed to be front revolver leg 5) elder generation and bar contact.If the moment of torsion that now front left motor 2 provides is enough to overcome the resisting moment acted on front revolver leg 5, so walking machine can move on certainly; If now resisting moment is greater than the drive torque that a motor provides, then walking machine can not move under this gait planning, but, as long as now front right wheel leg 26 turns over 60 degree (now, revolver leg 5 cannot move) in advance relative to front revolver leg 5, make front revolver leg 5 be in same phase place with front right wheel leg 26, walking machine will be made to have more drive torque to overcome this obstacle.After crossing this obstacle, front revolver leg 5 must be allowed to turn over 60 degree backward relative to front right wheel leg 26, to recover gait planning when normally walking on level land.Using a benefit of electric machine control to be, (being highly less than wheel leg radius) when crossing over general obstacle, without any need for control just can realize the conversion of gait.Bionical six take turns leg drives in 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 one to take turns leg elder generation and bar contact, might as well be assumed to be front revolver leg 5.If the moment of torsion that now front left motor 2 provides is enough to overcome the resisting moment acted on front revolver leg 5, so walking machine can move on certainly; If now resisting moment is greater than the drive torque that a motor provides, then walking machine can not move under this gait planning.Now front left motor 2 will stall, but front right motor 29 continues electric and normal operation, so front right wheel leg 26 automatically will turn over 60 degree relative to front revolver leg 5 in advance, make front revolver leg 5 be in same phase place with front right wheel leg 26, walking machine will be made to 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, now, front left motor 2 dutycycle must be controlled by micro controller system 30, front revolver leg 5 is made to turn over 60 degree backward relative to front right wheel leg 26, to recover gait planning when normally walking on level land.
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 to rotate, after being turned round by worm and gear deceleration increasing, worm gear 25 rotates, and drives pipe link 23 to rotate.Described in front, now front vehicle frame 1 will rotate a certain angle relative to Rear frame 9, make front revolver leg in front vehicle frame 15 and front right wheel leg 26 can with on bar contact, after this, then traveling gear can cross the obstacle that is highly greater than its front revolver leg 5 or front right wheel leg 26 radius.Obviously, such obstacle impossible be crossed by Conventional drum machinery.
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 obtains electric, worm screw 24 is driven to rotate after middle part degree-of-freedom joint motor 14 operates, after being turned round by worm and gear deceleration increasing, worm gear 25 rotates, and drives pipe link 23 to rotate, then makes front vehicle frame 1 rotate to an angle relative to Rear frame 9.
The big speed ratio of Worm Wheel System pair can ensure that front vehicle frame 1 can not be very fast relative to the reverse speed of Rear frame 9, ensure that pipe link 23 can provide enough large moment of torsion to lift front vehicle frame 1 simultaneously.Adopt another benefit of Worm Wheel System pair to be, time on level road, first half will be stayed relative to latter half due to vibration, this is the adverse efficiency very low guaranteed due to worm and gear.
Another one problem how to allow micro controller system 30 identify this operating mode, and this will realize by means of the code-disc that tests the speed equally.When traveling gear run into one be highly greater than the obstacle of wheel leg radius time, if do not allow front vehicle frame 1 reverse relative to Rear frame 9, then front left motor 2 or front right motor 29 will stalls, the photoelectric tube of code-disc of so testing the speed will can't detect pulse, but there is one section of continuous print high level or low level (this depends on the programming with micro controller system 30), just can judge now to need that middle part degree-of-freedom joint motor 14 is obtained accordingly electric.When bionical six take turns leg entirely drive traveling gear success clear an obstacle time, photoelectric tube will detect pulse current again, now needing again to control middle part degree-of-freedom joint motor 14 by micro controller system 30 obtains electric, make middle part degree-of-freedom joint motor 14 antiport, drive worm screw 24 contrarotation, after being turned round by worm and gear deceleration increasing, worm gear 25 rotates backward, drive pipe link 23 contrarotation, then make front vehicle frame 1 return to and be positioned at same plane with Rear frame 9.
Turning to of traveling gear of the present invention realizes with the speed discrepancy of front right motor 29 by controlling front left motor 2.When turning to, for simplicity, middle revolver leg 6, rear revolver leg 10, rear right wheel leg 16 and middle right leg 19 of taking turns is allowed freely to rotate.This is by installing an overriding clutch between leg and its drive motor realize each wheel, and these overriding clutchs are front left overriding clutch 4, middle left overriding clutch 7, rear left overriding clutch 11, rear right overriding clutch 17, middle right overriding clutch 21 and front right overriding clutch 27.When needs turn to, left motor 32 on tween drive shaft and rear axle, middle right motor 22, rear left motor 13 is allowed all to reverse with rear right motor 15, from the character of overriding clutch, now middle revolver leg 6, rear revolver leg 10, rear right wheel leg 16 and middlely rightly take turns the driving that leg 19 is not subject to middle left motor 32, rear left motor 13, rear right motor 15 and middle right motor 22, but above two driven before realize turning under revolver leg 5 and the drive of front right wheel leg 26.This layout makes resistance when turning to greatly reduce.Specific implementation process regulates realization by dutycycle equally.Definition turns to dutycycle to equal speed of a motor vehicle dutycycle and is multiplied by steer coefficient, and steer coefficient can get 0, and ± 0.1, ± 0.2, ± 0.3, ± 0.4.So front right motor 29 dutycycle equals speed of a motor vehicle dutycycle and adds and turn to dutycycle, and front left motor 2 dutycycle equals speed of a motor vehicle dutycycle and deducts and turn to dutycycle.The selection of steer coefficient corresponds to different Turning radiuss, and these needs are demarcated by prior experiment, coupling.
Claims (4)
1. bionical six take turns leg and entirely drive a traveling gear, comprise wheel leg walking machine part, described wheel leg walking machine part comprises front vehicle frame (1), Rear frame (9), middle part degree-of-freedom joint device, wheel leg and drives fabricate block, described wheel leg refers to front revolver leg (5), middle revolver leg (6), rear revolver leg (10), rear right wheel leg (16), middle 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, middle left driving fabricate block, rear left to drive fabricate block, rear right to drive fabricate block, middle right driving fabricate block and front right to drive fabricate block, middle part degree-of-freedom joint device is fixedly installed in the midway location of Rear frame (9) front end base plate, the rear end of front vehicle frame (1) is inserted between the opening of Rear frame (9) front end, and adopt the pipe link (23) in the degree-of-freedom joint device of middle part both to be rotationally connected, front left drives fabricate block be arranged on the front left place of front vehicle frame (1) and be fixedly connected with front revolver leg (5), front right drives fabricate block be arranged on the front right place of front vehicle frame (1) and be fixedly connected with front right wheel leg (26), middle left driving fabricate block is arranged on the front left place of Rear frame (9) and is fixedly connected with middle revolver leg (6), rear left drives fabricate block be arranged on the rear left place of Rear frame (9) and be fixedly connected with rear revolver leg (10), rear right drives fabricate block be arranged on the rear right place of Rear frame (9) and be fixedly connected with rear right wheel leg (16), middle right driving fabricate block is arranged on the front right place of Rear frame (9) and is fixedly connected with middle right leg (19) of taking turns, it is characterized in that, described front left drives that fabricate block comprises front left motor (2), front left tests the speed code-disc (3) and front left overriding clutch (4), middle left driving fabricate block comprises middle left motor (32), test the speed in middle left side code-disc (8) and middle left overriding clutch (7), rear left driving fabricate block comprises rear left motor (13), rear left tests the speed code-disc (12) and rear left overriding clutch (11), rear right driving fabricate block comprises rear right motor (15), rear right tests the speed code-disc (18) and rear right overriding clutch (17), middle right driving fabricate block comprises middle right motor (22), test the speed in middle right side code-disc (20) and middle right overriding clutch (21), front right driving fabricate block comprises front right motor (29), front right tests the speed code-disc (28) and front right overriding clutch (27), front left drives fabricate block, middle left driving fabricate block drives the structure of fabricate block identical with rear left, rear right drives fabricate block, middle right driving fabricate block drives the structure of fabricate block identical with front right, and three, right side drives fabricate block and three, left side to drive fabricate block to be specular, front left tests the speed on output shaft that code-disc (3) is sleeved on front left motor (2) as being fixedly connected with, the output shaft of front left motor (2) is fixedly connected with the input end of front left overriding clutch (4), and the mouth of front left overriding clutch (4) adopts flange (33) to be fixedly connected with front revolver leg (5) with screw (39).
2. take turns leg according to according to claim 1 bionical six and entirely drive traveling gear, it is characterized in that, described middle part degree-of-freedom joint device is made up of No. 3 needle bearings (42) that pipe link (23), worm screw (24), worm gear (25), bearing (31), No. 1 needle bearing (40), No. 2 needle bearings (41) are identical with 2 structures;
Described pipe link (23) Shi Yi center is symmetrical stepped shaft like members, the center of pipe link (23) is processed with the keyway for installing worm gear (25), the both sides of keyway are provided with the positive hexagonal prism be connected with front vehicle frame (1) rear end, and the outer end of two positive hexagonal prisms is for installing and the cylinder of No. 1 needle bearing (40) that Rear frame (9) is rotationally connected and No. 2 needle bearings (41);
Worm gear (25) is sleeved on the center of the pipe link (23) of horizontal positioned and adopts flat key to connect, No. 3 needle bearings (42) that worm screw (24) employing two structures are identical are vertically arranged on for being rotationally connected in two bearing holes on bearing (31), and worm gear (25) and worm screw (24) are connected with a joggle.
3. take turns leg according to according to 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), middle right leg (19) of taking turns is identical with front right wheel leg (26) structure, 6 wheel legs are all made up of the identical leg of three structures and wheel hub, each leg becomes L shape, three legs are evenly distributed in the surrounding of wheel hub and are connected with wheel hub, namely the angle between adjacent two legs is 120 degree, each leg occupies the position of 60 degree of central angles, the center of wheel hub is provided with ladder hole, the surrounding of small through hole is distributed with the tapped through hole for mounting flange (33) equably.
4. take turns leg according to according to claim 1 bionical six and entirely drive traveling gear, it is characterized in that, described front revolver leg (5), rear revolver leg (10) and middle 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 the phase difference between these two groups wheel legs is 60 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310108663.0A CN103171644B (en) | 2013-03-31 | 2013-03-31 | Bionical six take turns leg drives traveling gear entirely |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310108663.0A CN103171644B (en) | 2013-03-31 | 2013-03-31 | Bionical six take turns leg drives traveling gear entirely |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103171644A CN103171644A (en) | 2013-06-26 |
| CN103171644B true CN103171644B (en) | 2015-10-07 |
Family
ID=48631950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310108663.0A Expired - Fee Related CN103171644B (en) | 2013-03-31 | 2013-03-31 | Bionical six take turns leg drives traveling gear entirely |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103171644B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608838B (en) * | 2014-12-08 | 2017-08-01 | 中国科学院合肥物质科学研究院 | The sufficient wheel leg type of one kind six is creeped bio-robot |
| CN105667620B (en) * | 2016-03-31 | 2017-12-08 | 西南大学 | A kind of lorry in left and right same-phase out of phase section |
| CN106042979B (en) * | 2016-05-27 | 2018-01-02 | 浙江农林大学 | The bionical multi-joint electric remote control tractor of hilly and mountainous land |
| CN108890686B (en) * | 2018-07-09 | 2021-03-09 | 白捷东 | Caterpillar robot with variable gravity center |
| CN109795578A (en) * | 2019-04-03 | 2019-05-24 | 西北工业大学 | A kind of ground having bionic hopping obstacle climbing ability fast moves robot |
| CN110371193A (en) * | 2019-08-12 | 2019-10-25 | 吉林大学 | Hexapod robot frame system and frame |
| CN112124629B (en) * | 2020-09-27 | 2022-03-15 | 西北工业大学 | Planet detector and system |
| CN112623059B (en) * | 2020-11-16 | 2022-04-01 | 北京理工大学前沿技术研究院 | Wheel-leg mechanism of motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set |
| CN113371093A (en) * | 2021-06-25 | 2021-09-10 | 广东职业技术学院 | Obstacle-crossing wheel-leg type garden inspection insect robot |
| CN115071854A (en) * | 2022-07-05 | 2022-09-20 | 浙江工业大学 | Multifunctional tree-climbing coconut crab-imitating robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1338357A (en) * | 2001-10-08 | 2002-03-06 | 上海交通大学 | Miniaturized bionic 6-leg robot |
| CN101439736A (en) * | 2007-11-21 | 2009-05-27 | 中国科学院沈阳自动化研究所 | All-terrain moving robot |
| CN102180205A (en) * | 2011-02-11 | 2011-09-14 | 河南科技大学 | Robot with wheel legs |
| CN203211417U (en) * | 2013-03-31 | 2013-09-25 | 吉林大学 | Bionic six-wheeled leg full-drive walking mechanism |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5423708A (en) * | 1994-08-15 | 1995-06-13 | Allen; Roger D. | Multi-legged, walking toy robot |
| KR20020011709A (en) * | 2000-08-04 | 2002-02-09 | 김동훈 | multiple-legged walking apparatus |
-
2013
- 2013-03-31 CN CN201310108663.0A patent/CN103171644B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1338357A (en) * | 2001-10-08 | 2002-03-06 | 上海交通大学 | Miniaturized bionic 6-leg robot |
| CN101439736A (en) * | 2007-11-21 | 2009-05-27 | 中国科学院沈阳自动化研究所 | All-terrain moving robot |
| CN102180205A (en) * | 2011-02-11 | 2011-09-14 | 河南科技大学 | Robot with wheel legs |
| CN203211417U (en) * | 2013-03-31 | 2013-09-25 | 吉林大学 | Bionic six-wheeled leg full-drive walking mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103171644A (en) | 2013-06-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103171644B (en) | Bionical six take turns leg drives traveling gear entirely | |
| CN103192897B (en) | Bionic six-wheel-leg travelling mechanism | |
| CN103273977B (en) | Passive self-adaption deformable continuous track type mobile robot platform | |
| CN105905178B (en) | Multifunctional obstacle crossing robot | |
| CN108556938B (en) | All-terrain robot | |
| CN109733468B (en) | Steering system and method and vehicle | |
| CN103523076B (en) | Hybrid motor driven power steering system for commercial vehicle and its method | |
| CN102039589B (en) | Modularized disaster rescue robot | |
| CN101423075B (en) | Modular six freedom-degree initiative joint type bipod walking robot | |
| CN102275611B (en) | Distributed automobile line control steering system and control method | |
| CN107262467A (en) | Intelligent creeping robot device for pipeline cleaning | |
| CN109178122B (en) | Wheel-leg crawler belt composite type complex ground self-adaptive micro robot and control method | |
| CN103318288A (en) | Synchronous belt driving type full tracked robot | |
| CN201712689U (en) | Modular six-degree-of-freedom active joint type biped walking robot | |
| CN204328337U (en) | A kind of reservoir culvert measuring robots | |
| CN102514640B (en) | Deformable rescue robot | |
| US11235821B2 (en) | Reconfigurable joint track compound mobile robot | |
| CN206882339U (en) | Intelligent creeping robot device for pipeline cleaning | |
| CN103879467B (en) | The differential mobile robot platform of a kind of passive self adaptation crawler belt deformable rocking bar | |
| CN103359161A (en) | Vehicle steer-by-wire steering wheel device | |
| CN104787145B (en) | Wheel switching mechanism for mobile robot | |
| CN103140407A (en) | A steering mechanism for a drawn vehicle to steer one or more turnable steered axles | |
| CN204037253U (en) | Based on the wheel oar leg composite configuration amphibious robot of epicyclic train | |
| CN108556939B (en) | All-terrain mobile detection robot | |
| CN201525026U (en) | Modular disaster relief robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151007 Termination date: 20160331 |