CN103407511A - Small-sized wheel leg combined type movable obstacle-crossing mechanism in forest - Google Patents

Small-sized wheel leg combined type movable obstacle-crossing mechanism in forest Download PDF

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Publication number
CN103407511A
CN103407511A CN2013102831908A CN201310283190A CN103407511A CN 103407511 A CN103407511 A CN 103407511A CN 2013102831908 A CN2013102831908 A CN 2013102831908A CN 201310283190 A CN201310283190 A CN 201310283190A CN 103407511 A CN103407511 A CN 103407511A
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China
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wheel
disc
leg
floral disc
arcuate leg
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CN2013102831908A
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CN103407511B (en
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郑嫦娥
周琪涵
王伟龙
闫海龙
王佳丽
姜子豪
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Beijing Forestry University
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Beijing Forestry University
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Abstract

The invention discloses a small-sized wheel leg combined type movable obstacle-crossing mechanism in the forest. The mechanism has good environmental suitability and the obstacle-crossing capability under the outdoor natural environments like the forest. Six arc-shaped legs of the mechanism are connected with a rotating disc through connection rods, and are in serial connection with an inner disc chuck and an outer disc chuck through fixing bolts. A hub is embedded in the rotating disc, a motor shaft is connected with the hub through a flat key so as to drive a wheel to normally rotate, a gear disc is attached to one side of the inner disc chuck, and the gear disc can be fixed with or disengaged from the inner disc chuck according to the requirements for the opening and closing motions of the arc-shaped legs. The motion mechanism integrates the advantages of a wheel type mechanism and a leg type mechanism and has the advantages of being light in weight and small in size, and the motion pattern can be converted according to different terrain conditions. The wheel is utilized for achieving the high-speed far-distance motion, and the arc-shaped legs are utilized for improving the obstacle-crossing capability and the environmental suitability of the mechanism.

Description

The small-sized wheel-leg combined type in forest zone moves barrier getting over mechanism
Technical field
The present invention is moveable robot movement mechanism, belongs to machine design, Robotics and automatic field, can realize the different mode of motioies such as the mobile robot is wheeled, leg formula, and have lightweight, volume is little, the characteristics of compact conformation.
Background technology
At present, in mobile robot's kinematic mechanism, generally adopt wheeled, crawler type and leg formula mechanism, that wheeled robot has advantages of is simple in structure, speed is high and energy consumption is low, but is not suitable for crossing over the obstacle such as forest zone stone, and obstacle climbing ability is poor; Caterpillar type robot has higher carrying capacity and good compatible with environment at soft, uneven terrain, but has the shortcoming that friction drag is large, energy consumption is very high; Legged mobile robot has higher manoevreability, easily adapts to various complicated ground environment, but travel efficiency is low, mechanism and control are comparatively complicated.In recent years, many scholars have carried out the research that wheel is carried out composite structure, and still, general volume and weight is all larger.
The forest zone integrated application of take is surveyed as using background, requires robot to have characteristics lightweight, that volume is little, energy consumption is low.Because the forest zone working environment is complicated, unknown, changeable, so, require robot to have high maneuverability and obstacle climbing ability.
Summary of the invention
The present invention proposes a kind of small-sized wheel-leg combined type kinematic mechanism that can possess better compatible with environment and obstacle climbing ability under the field natural environments such as forest zone.This kinematic mechanism merges the advantage of wheeled mechanism and leg formula mechanism, and has the characteristics lightweight, that volume is little, can be according to different topographic condition conversion mode of motioies.Utilize wheel to realize that high-speed remote is from motion, utilize arcuate leg to improve its obstacle climbing ability and compatible with environment.
Six arcuate leg of this mechanism are connected with rotating disk by connecting rod, and utilize bolt of rear end plate and inside and outside floral disc series winding.Rotating disk is embedded with wheel hub, and motor shaft is connected with wheel hub by flat key, to drive the normal rotation of wheel.Interior floral disc one side is with toothed disc, and the action opened and closed according to arcuate leg needs to fix or to break away from interior floral disc.This mechanism characteristics is: arcuate leg can be closed with open, to adapt to the different landform road conditions in forest zone.In arcuate leg (1) while not opening, the main shaft (6) that connects motor, by key (14) connecting band runner hub (7), rotate, wheel hub (7) is connected by four wheel hub pins (11) with outer floral disc (5) with interior floral disc (4), inside and outside floral disc also rotates thereupon, inside and outside floral disc is connected by 6 bolt of rear end plates (12) with arcuate leg (1), therefore whole closed wheel turns.In the time will opening arcuate leg (1), first stop the rotation of wheel, then start steering wheel, pass through gear transmission, driven gear dish (9) turns an angle, toothed disc (9) is connected with rotating disk (8), rotating disk (8) is also along with toothed disc rotates same angle, now interior floral disc (4) and outer floral disc (5) are motionless, bolt of rear end plate (12) is a fixed pivot, rotating disk (8), connecting rod (3), arcuate leg (1) form connecting rod mechanism, and rotating disk (8) rotates and makes arcuate leg (1) open the angle of appointment like this, and closure is taken turns the expansion that changes leg formula wheel into and moved.Driven by motor wheel turns afterwards, principle is identical when closed with arcuate leg.During rotation, the end of arcuate leg (1) contacts with ground, be subject to the power with direction of rotation, and the pin of arcuate leg inboard (2) makes arcuate leg not because of stressed its opening angle that changes to its reversing sense application force applied.Therefore, arcuate leg can stable rotation under open mode, and can cross the obstacle of certain altitude.
This composite mechanism, between its toothed disc (9) and interior floral disc (4), clutch structure design is as follows: arcuate leg (1) open or closed process in, toothed disc and interior floral disc are in relative rotation, and wheel in the process of moving, and toothed disc is relative static with interior floral disc.In order to realize this structure and action request, we use magnetic clutch to realize the clutch of interior floral disc and toothed disc.In the upper cylindrical projection (15) that exists of interior floral disc (4), there are 2 cylindrical holes (16) that are complementary with interior floral disc cylindrical projection (15) toothed disc (9) inboard, when opening or during closed arcuate leg, the electromagnetic force that magnetic clutch produces pulls the cylindrical hole (16) on toothed disc to be connected with cylindrical projection (15) disengaging on interior floral disc.After this when steering wheel driven gear dish rotated certain angle, it is fixing that interior floral disc keeps, with in the situation that wheel does not turn expansion or the closure that realizes arcuate leg.After expansion or closed action complete, wheel will rotate and advance, now interior floral disc (4) need to keep relative static again with toothed disc (9), utilize the electromagnetic force that magnetic clutch produces to promote toothed disc (9), the cylindrical projection (15) of interior floral disc (4) is put in another cylindrical hole (16) of toothed disc, floral disc namely keeps relative static with toothed disc like this, and wheel is normally advanced.
Wheeled and motion advantage leg formula mechanism has been merged in mechanism of the present invention, with crawler type, wheeled construction, compare, have the fast and obstacle performance high of moving velocity, can better adapt to the complex-terrains such as forest zone, monitor and there is extremely important effect the aspect such as scientific exploration at forest fire.
It is light small and exquisite that wheel-leg combined type moves barrier getting over mechanism, diverse in function, and alerting ability is good, and distortion is simple, and structure is practical.The advantages such as in addition, it is made material and has and be simple and easy to get, and economy is high, and operating cycles is long.
The accompanying drawing explanation
The closed figure of Fig. 1 kinematic mechanism;
Fig. 2 kinematic mechanism expansion drawing (showing toothed disc and interior floral disc);
Fig. 3 kinematic mechanism expansion drawing (showing outer floral disc);
Fig. 4 mechanism deploying state is along the rotating disk section-drawing;
Fig. 5 mechanism closure state is along the rotating disk section-drawing;
Fig. 6 toothed disc and interior floral disc detailed schematic.
1. outer floral disc 6. main shaft 7. wheel hub 8. rotating disk 9. toothed disc 10. gears of the interior floral disc 5. of arcuate leg 2. lever 3. connecting rod 4. connect slide bar 11. wheel hub pin 12. bolt of rear end plate 13. connecting rod bolt 14. flat key 15. cylindrical projection 16. cylindrical holes
The specific embodiment
The arcuate leg of this kinematic mechanism can be closed with open, to adapt to different road conditions.When arcuate leg is closed, as Fig. 1, be adapted at more smooth road surface walking, speed is fast and steady, and when arcuate leg was launched, as Fig. 2, Fig. 3, obstacle climbing ability was strong.
In arcuate leg (1) while not opening, the main shaft (6) that connects motor, by key (14) connecting band runner hub (7), rotate, wheel hub (7) is connected by four wheel hub pins (11) with outer floral disc (5) with interior floral disc (4), inside and outside floral disc also rotates thereupon, inside and outside floral disc is connected by 6 bolt of rear end plates (12) with arcuate leg (1), so whole closed wheel turns.
In the time will opening arcuate leg (1), first stop the rotation of wheel, then start steering wheel, pass through gear transmission, driven gear dish (9) turns an angle, toothed disc (9) is connected with rotating disk (8), rotating disk (8) is also along with toothed disc rotates same angle, now interior floral disc (4) and outer floral disc (5) are motionless, bolt of rear end plate (12) is a fixed pivot, rotating disk (8), connecting rod (3), arcuate leg (1) form connecting rod mechanism, and rotating disk (8) rotates and makes arcuate leg (1) open the angle of appointment like this, and closure is taken turns the expansion that changes leg formula wheel into and moved.Driven by motor wheel turns afterwards, principle is identical when closed with arcuate leg.During rotation, the end of arcuate leg (1) contacts with ground, be subject to the power with direction of rotation, and the pin of arcuate leg inboard (2) makes arcuate leg not because of stressed its opening angle that changes to its reversing sense application force applied.Therefore, arcuate leg can stable rotation under open mode, and can cross the obstacle of certain altitude.The diameter of its obstacle climbing ability and wheeled construction is relevant with the number of arcuate leg.

Claims (3)

1. the small-sized wheel-leg combined type in forest zone moves barrier getting over mechanism, it is characterized in that: six arcuate leg are connected with rotating disk by connecting rod, and utilize bolt of rear end plate and inside and outside floral disc series winding; Rotating disk is embedded with wheel hub, and motor shaft is connected with wheel hub by flat key, to drive the normal rotation of wheel; Interior floral disc one side is with toothed disc, and the action opened and closed according to arcuate leg needs to fix or to break away from interior floral disc.Arcuate leg can be closed with open, to adapt to the different landform road conditions in forest zone; In arcuate leg (1) while not opening, the main shaft (6) that connects motor, by key (14) connecting band runner hub (7), rotate, wheel hub (7) is connected by four wheel hub pins (11) with outer floral disc (5) with interior floral disc (4), inside and outside floral disc also rotates thereupon, inside and outside floral disc is connected by 6 bolt of rear end plates (12) with arcuate leg (1), so whole closed wheel turns.In the time will opening arcuate leg (1), first stop the rotation of wheel, then start steering wheel, pass through gear transmission, driven gear dish (9) turns an angle, toothed disc (9) is connected with rotating disk (8), rotating disk (8) is also along with toothed disc rotates same angle, now interior floral disc (4) and outer floral disc (5) are motionless, bolt of rear end plate (12) is a fixed pivot, rotating disk (8), connecting rod (3), arcuate leg (1) form connecting rod mechanism, and rotating disk (8) rotates and makes arcuate leg (1) open the angle of appointment like this, and closed wheel becomes the expansion of leg formula wheel and moved.Driven by motor wheel turns afterwards, principle is identical when closed with arcuate leg; During rotation, the end of arcuate leg (1) contacts with ground, be subject to the power with direction of rotation, and the lever of arcuate leg inboard (2) makes arcuate leg not because of stressed its opening angle that changes to its reversing sense application force applied; Therefore, arcuate leg can stable rotation under open mode, and can cross the obstacle of certain altitude.The diameter of its obstacle climbing ability and wheeled construction is relevant with the number of arcuate leg.
2. composite mechanism as claimed in claim 1, adopted clutch structure between its toothed disc (9) and interior floral disc (4).It is characterized in that: arcuate leg (1) open or closed process in, toothed disc and interior floral disc relatively rotate; And wheel in the process of moving, toothed disc is relative static with interior floral disc; In order to realize this structure and action request, use magnetic clutch to realize the clutch of interior floral disc and toothed disc; In the upper cylindrical projection (15) that exists of interior floral disc (4), there are 2 cylindrical holes (16) that are complementary with interior floral disc cylindrical projection (15) toothed disc (9) inboard, when opening or during closed arcuate leg, the electromagnetic force that magnetic clutch produces pulls toothed disc, and the cylindrical hole on it (16) is connected with cylindrical projection (15) disengaging on interior floral disc; After this when steering wheel driven gear dish rotated certain angle, it is fixing that interior floral disc keeps, with in the situation that wheel does not turn expansion or the closure that realizes arcuate leg.After expansion or closed action complete, wheel turns is advanced, now interior floral disc (4) need keep relative static again with toothed disc (9), utilize the electromagnetic force that magnetic clutch produces to promote toothed disc (9), the cylindrical projection (15) of interior floral disc (4) is put in another cylindrical hole (16) of toothed disc, floral disc namely keeps relative static with toothed disc like this, and wheel is normally advanced.
3. composite mechanism as claimed in claim 1, is characterized in that: have wheeled rapid movement, leg formula Obstacle Negotiation multi-motion modes.Utilize two leg formula wheel closures to land, can realize the motion requirement of the long distance of robot; By control, launch the joint angle of leg and can realize the Obstacle Negotiation of robot under complicated environmental condition; By launching leg formula and closed wheeled compound motion, realize that the integrated application under the environment of forest zone is surveyed.
CN201310283190.8A 2013-07-08 2013-07-08 The small-sized wheel-leg combined type in forest zone moves barrier getting over mechanism Active CN103407511B (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104210571A (en) * 2014-09-10 2014-12-17 宁德市天启机器人科技有限公司 Wheeled leg walking device with independent walking and cross-country functions
CN104960379A (en) * 2015-05-25 2015-10-07 上海交通大学 Three-mode transforming wheel
CN107891923A (en) * 2017-12-26 2018-04-10 福建农林大学 All-terrain vehicle wheel, rescue aid and method of work using the wheel
CN108032921A (en) * 2018-01-25 2018-05-15 天津职业技术师范大学 A kind of wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly
CN109774810A (en) * 2019-01-21 2019-05-21 浙江理工大学 A kind of wheel leg converting means based on Electromagnetic Control Yu space inverse cam
CN109878592A (en) * 2019-04-15 2019-06-14 北京建筑大学 A kind of compound running gear of wheel leg
CN114275071A (en) * 2021-12-24 2022-04-05 北方工业大学 Novel deformable wheel-leg robot

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Publication number Priority date Publication date Assignee Title
JPH0632263A (en) * 1992-07-15 1994-02-08 Tomita Denki Seisakusho:Kk Legged moving vehicle
CN101525010A (en) * 2009-03-24 2009-09-09 同济大学 Wheel-claw type wet-absorbing wall-climbing Robert wheel claw capable of being recombined
US7836983B2 (en) * 2004-10-01 2010-11-23 Applied Minds, Inc. Bimodal conveyance mechanism
CN102295029A (en) * 2011-06-13 2011-12-28 北京航空航天大学 Adaptive wheel-leg combined obstacle detouring mechanism
CN203439167U (en) * 2013-07-08 2014-02-19 北京林业大学 Forest region small wheel and leg combined type mobile obstacle crossing mechanism

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0632263A (en) * 1992-07-15 1994-02-08 Tomita Denki Seisakusho:Kk Legged moving vehicle
US7836983B2 (en) * 2004-10-01 2010-11-23 Applied Minds, Inc. Bimodal conveyance mechanism
CN101525010A (en) * 2009-03-24 2009-09-09 同济大学 Wheel-claw type wet-absorbing wall-climbing Robert wheel claw capable of being recombined
CN102295029A (en) * 2011-06-13 2011-12-28 北京航空航天大学 Adaptive wheel-leg combined obstacle detouring mechanism
CN203439167U (en) * 2013-07-08 2014-02-19 北京林业大学 Forest region small wheel and leg combined type mobile obstacle crossing mechanism

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104210571A (en) * 2014-09-10 2014-12-17 宁德市天启机器人科技有限公司 Wheeled leg walking device with independent walking and cross-country functions
CN104960379A (en) * 2015-05-25 2015-10-07 上海交通大学 Three-mode transforming wheel
CN107891923A (en) * 2017-12-26 2018-04-10 福建农林大学 All-terrain vehicle wheel, rescue aid and method of work using the wheel
CN108032921A (en) * 2018-01-25 2018-05-15 天津职业技术师范大学 A kind of wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly
CN109774810A (en) * 2019-01-21 2019-05-21 浙江理工大学 A kind of wheel leg converting means based on Electromagnetic Control Yu space inverse cam
CN109774810B (en) * 2019-01-21 2023-09-29 浙江理工大学 Wheel leg conversion device based on electromagnetic control and space reverse cam
CN109878592A (en) * 2019-04-15 2019-06-14 北京建筑大学 A kind of compound running gear of wheel leg
CN114275071A (en) * 2021-12-24 2022-04-05 北方工业大学 Novel deformable wheel-leg robot

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