CN103802906A - Portable wheel type shifter with stepping propulsion mechanisms - Google Patents
Portable wheel type shifter with stepping propulsion mechanisms Download PDFInfo
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- CN103802906A CN103802906A CN201410055595.0A CN201410055595A CN103802906A CN 103802906 A CN103802906 A CN 103802906A CN 201410055595 A CN201410055595 A CN 201410055595A CN 103802906 A CN103802906 A CN 103802906A
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Abstract
The invention relates to the technical field of robots or unmanned cars, in particular to a portable wheel type shifter with stepping propulsion mechanisms. The stepping propulsion mechanisms are installed on the front portion of the portable wheel type shifter of a car body and the rear portion of the portable wheel type shifter of the car body, when the wheel type shifter moves, the stepping propulsion mechanisms are folded inwards to be placed in the middle of the car body, when the wheel type shifter needs to cross obstacles, rocker arms are swung and unfolded and swung to proper positions, the wheel type shifter crosses steps and ditches and climbs stairs through continuous rotation of a stepping support, and accordingly the portable wheel type shifter has the capacity for adapting to complex terrain.
Description
Technical field
The present invention relates to robot or unmanned vehicle technical field, be specifically related to a kind of portable wheeled mobile device with stepping propulsive mechanism.
Background technology
Wheeled propulsion system has efficiently in flat road surface, at a high speed, pulsation-free advantage, but its obstacle performance is poor in the destructuring road surface situations such as mountain region, marsh, soft terrain, stair.Crawler type propulsion system has advantages of that different terrain is adaptable, grounding pressure is little, but its friction force is large, and energy consumption is high, and manoevreability is poor.Foot formula propulsion system has good different landforms comformability, and the rough road surface such as mountain region, metal road is had to good crossing ability, but has structure and control the shortcomings such as complexity, poor stability, efficiency are low.Above-mentioned three kinds of propulsion modes cut both ways.
In order to improve the obstacle performance of small-sized Portable unmanned mobile device, current each developed country particularly US military is devoted to develop High Performance walking technology under destructuring environment, carries out compound running gear comprising the compound running gear of wheel leg, the compound running gear of shoe leg, wheel.It is current development tendency and study hotspot that i.e. exploitation has propulsion system compound, distortion function.
Some current unmanned mobile devices often can not meet applicable various road conditions, cannot realize the general of city environment and rural atmosphere, and stair climbing is a huge test to the propulsion system of unmanned mobile device, counterterrorist force or individual combat often will be equipped with the unmanned mobile device that adapts to varying environment, therefore, how to design a kind of General Mobile device that can adapt to various road conditions, reduce Mobile device special quantity, improve the quality of basic mobile device, thereby improve the operational efficiency of mobile device, reduce its use and maintenance cost and become technical matters urgently to be resolved hurrily.
Summary of the invention
(1) technical matters that will solve
The technical problem to be solved in the present invention is: how to provide a kind of there is stepping propulsive mechanism can portable wheeled mobile device, require it to there is the adaptive capacity of complex-terrain.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of portable wheeled mobile device with stepping propulsive mechanism, described device comprises:
Described the first stepping propulsive mechanism 3 comprises: first swings rocking arm 3-1 and the first stepping support 3-2; Described the second stepping propulsive mechanism 4 comprises: second swings Rocker arm 4-1 and the second stepping support 4-2;
Described first swings rocking arm 3-1 is articulated with the anterior O1 of car body 1 position rotationally, and be set to rotate around the first turning cylinder I at hinge point place, it is hinged with the first swing rocking arm 3-1 rotationally that 3-2 is supported in described the first stepping, and be set to rotate around the second turning cylinder II at hinge point place; Described second swings Rocker arm 4-1 is articulated with car body 1 O2 position, rear portion rotationally, and be set to rotate around the 3rd turning cylinder III at hinge point place, it is hinged with the second swing Rocker arm 4-1 rotationally that 4-2 is supported in described the second stepping, and be set to rotate around the 4th turning cylinder IV at hinge point place; The described first driver element that swings rocking arm 3-1 and the second swing support arm 4-1 is arranged at car body inside, be independent driving unit, be arranged at the first swing rocking arm 3-1 for the first stepping support drive unit 3-3 that drives described the first stepping to support 3-2, be arranged at the second swing Rocker arm 4-1 for the second stepping support drive unit 4-3 that drives described the second stepping to support 4-2; Described first swings rocking arm 3-1 for the first stepping propulsive mechanism 3 is swung to correct position, then realizes the climbing to obstacle by the bearing rotation of the first stepping support 3-2; Described second swings Rocker arm 4-1 for the second stepping propulsive mechanism 4 is swung to correct position, then realizes the climbing to obstacle by the bearing rotation of the second stepping support 4-2.
Wherein, described wheel group comprises the wheel 2 of four same sizes, is divided into: off front wheel 2-1, the near front wheel 2-2, off hind wheel 2-3 and left rear wheel 2-4;
On described car body 1, be provided with front axle and rear axle;
Described off front wheel 2-1 and the near front wheel 2-2 are arranged on front axle, and off hind wheel 2-3 and left rear wheel 2-4 are arranged on rear axle;
Assemblage gap b between each described wheel 2 and car body 1 is more than or equal to the width that swings rocking arm;
Outside width B1 between two wheels 2 installing separately on described front axle and rear axle is all less than or equal to described the first stepping and supports 3-2 and the second stepping support 4-2 inner side width B 2 separately.
(3) beneficial effect
Portable wheeled mobile device of the present invention is installed stepping propulsive mechanism before and after car body, in the time that wheeled mobile device moves, this stepping propulsive mechanism is folding being placed in the middle of car body inwardly, in the time of needs leaping over obstacles, swing rocking arm and launch, swing to correct position, the continuous rotation of supporting by stepping realizes more step, cross trench, stair climbing, thus make this device there is the adaptive capacity of complex-terrain.
Compared with prior art, the present invention possesses following beneficial effect:
(1) the stepping propulsive mechanism that this device passes through a set of collapsible expansion of each installation before and after wheeled mobile vehicle, to improve the obstacle climbing ability of wheeled mobile device, comprises obstacles such as getting over trench, perpendicular steps, stair.
(2) this device is take wheeled propulsor as main propulsion mode, and stepping propulsive mechanism is additional thrust mode, and wheeled propulsor and stepping propulsive mechanism both can work independently, and also can work together.
(3) at travelling position or wheel row state, the swing rocking arm of stepping propulsive mechanism and stepping are supported and are folded state and ride against car body top, all actuating devices of stepping propulsive mechanism are all braked, this device has minimum external envelope size thus, conveniently transport and bear, thering is portable functional.
(4) in this scheme, the assemblage gap between wheel and car body is more than or equal to the width that swings rocking arm, can prevent that rocking arm from swinging time with wheel interference.
(5) in this scheme, the outside width between the wheel of both sides is all less than or equal to each stepping and supports inner side width separately, can prevent stepping support rotating time with motion in wheel interfere.
Accompanying drawing explanation
Fig. 1 is the rounding state front view of apparatus of the present invention.
Fig. 2 is the rounding state right elevation of apparatus of the present invention.
Fig. 3 is the rounding state birds-eye view of apparatus of the present invention.
Fig. 4 is the front view of the deployed condition of apparatus of the present invention.
Fig. 5 is the initial position figures of apparatus of the present invention in trench obstacle.
Fig. 6 is the procedure chart of apparatus of the present invention Crossing ditch obstacle.
Fig. 7 is the initial position figures of apparatus of the present invention in perpendicular steps obstacle.
Fig. 8 is the procedure chart that apparatus of the present invention are crossed over perpendicular steps obstacle.
The specific embodiment
For making object of the present invention, content and advantage clearer, below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.
For solving the problem of prior art, the invention provides a kind of portable wheeled mobile device with stepping propulsive mechanism, as shown in Figures 1 to 8, described device comprises:
Described the first stepping propulsive mechanism 3 comprises: first swings rocking arm 3-1 and the first stepping support 3-2; Described the second stepping propulsive mechanism 4 comprises: second swings Rocker arm 4-1 and the second stepping support 4-2;
Described first swings rocking arm 3-1 is articulated with the anterior O1 of car body 1 position rotationally, and be set to rotate around the first turning cylinder I at hinge point place, it is hinged with the first swing rocking arm 3-1 rotationally that 3-2 is supported in described the first stepping, and be set to rotate around the second turning cylinder II at hinge point place; Described second swings Rocker arm 4-1 is articulated with car body 1 O2 position, rear portion rotationally, and be set to rotate around the 3rd turning cylinder III at hinge point place, it is hinged with the second swing Rocker arm 4-1 rotationally that 4-2 is supported in described the second stepping, and be set to rotate around the 4th turning cylinder IV at hinge point place; The described first driver element that swings rocking arm 3-1 and the second swing support arm 4-1 is arranged at car body inside, be independent driving unit, be arranged at the first swing rocking arm 3-1 for the first stepping support drive unit 3-3 that drives described the first stepping to support 3-2, be arranged at the second swing Rocker arm 4-1 for the second stepping support drive unit 4-3 that drives described the second stepping to support 4-2; Described first swings rocking arm 3-1 for the first stepping propulsive mechanism 3 is swung to correct position, then realizes the climbing to obstacle by the bearing rotation of the first stepping support 3-2; Described second swings Rocker arm 4-1 for the second stepping propulsive mechanism 4 is swung to correct position, then realizes the climbing to obstacle by the bearing rotation of the second stepping support 4-2.Described the first stepping propulsive mechanism 3 draws in O1A1 position under folded state, and expansion can be to O1A2 position; The second stepping propulsive mechanism 4 draws in O2B1 position under folded state, and expansion can be to O2B2 position; 3-2 is supported in the first stepping and the second stepping support 4-2 can rotate by bearing.
Wherein, described wheel group comprises the wheel 2 of four same sizes, is divided into: off front wheel 2-1, the near front wheel 2-2, off hind wheel 2-3 and left rear wheel 2-4;
On described car body 1, be provided with front axle and rear axle;
Described off front wheel 2-1 and the near front wheel 2-2 are arranged on front axle, and off hind wheel 2-3 and left rear wheel 2-4 are arranged on rear axle;
Assemblage gap b between each described wheel 2 and car body 1 is more than or equal to the width that swings rocking arm, when preventing that rocking arm from swinging with wheel interference;
Outside width B1 between two wheels 2 installing separately on described front axle and rear axle is all less than or equal to described the first stepping to be supported 3-2 and the second stepping and supports 4-2 inner side width B 2 separately, in case when stepping support rotating with motion in wheel interfere.
Describe in detail below in conjunction with specific embodiment.
Embodiment
As shown in Figure 1, the portable wheeled mobile device of what the present embodiment provided have stepping propulsive mechanism, comprises the wheel 2 of 1,4 same sizes of car body, and two stepping propulsive mechanisms 3 and 4 that are arranged on car body 1 wheel top, front and rear part.
As shown in Figure 2, stepping propulsive mechanism and video shooting device are folded state under vehicular transport state, the swing rocking arm 3-1 of stepping propulsive mechanism and 4-1 draw at car body midway location each other at boundary position, 3-2 is supported in stepping and 4-2 is collapsed into and swings rocking arm 3-1 and 4-1 equidirectional and stretch out along side, and all driver elements of stepping propulsive mechanism are all braked.Video shooting device 5 is folded in the upper wall of car body and fixes.Under wheel row state, mobile device is realized forward and backward and being moved by wheel 2, and the differential driving by left and right sides wheel realization turns to.
As shown in Figure 3,4 wheels are respectively off front wheel 2-1, the near front wheel 2-2, off hind wheel 2-3, left rear wheel 2-4.Off front wheel 2-1, the near front wheel 2-2 are distributed on the front axle of car body 1, off hind wheel 2-3, left rear wheel 2-4 are distributed on the rear axle of car body 1, wherein, left and right wheels outside width B1 is less than and equals stepping and support the inner side width B 2 of 3-2 and 4-2, in case produce interference with the wheel of motion while halting into support 3-2 and 4-2 integral cycle rotating.Be hinged on swing rocking arm 3-1 on car body and the width of 4-1 and can not be greater than the distance b between wheel 2 and car body, when preventing that swinging rocking arm swings and wheel interfere.
As shown in Figure 4, in the time of needs crossing over blockage, stepping propulsive mechanism 3 and 4 is deployed condition, swinging rocking arm 3-1 launches to car body front around axle I, swinging Rocker arm 4-1 launches to car body rear around axle III, stepping is supported 3-2 and is rotated around axle II, and turn to ad-hoc location formation support according to obstacle form, stepping is supported 4-2 and is rotated around axle IV, and turn to ad-hoc location according to obstacle form and form and support, stepping propulsive mechanism 3 and 4 can collaborative obstacle-detouring, also can work alone, stepping propulsive mechanism and wheel can collaborative obstacle-detourings, also can work alone.
As shown in Figure 5, this mobile device is in the time running into trench obstacle, carry out co-ordination by wheel propelling unit and stepping propulsive mechanism and stride across trench, when beginning, launch by the stepping propulsive mechanism 3 in working direction, drive collaborative work that stepping is supported on by swing rocking arm 3-1 and stepping support 3-2 and ride against trench opposite side edge, and drive and move forward by wheel 2.
As shown in Figure 6, current wheel while arriving trench opposite side edge, the stepping propulsive mechanism 3 in front lifts, and the stepping propulsive mechanism 4 at rear launches and supports 4-2 collaborative work by rear swing Rocker arm 4-1 and stepping to be supported on trench edge.Then wheel 2 drives and advances, and last car load passes through trench.
As shown in Figure 7, when mobile device can not be by before the perpendicular steps obstacle of front axle wheel lift time at the tractive force of front-wheel, need to cross this type of obstacle with stepping propulsive mechanism, by stepping support 3-2 put with perpendicular steps upper surface on, support 3-2 collaborative work front-wheel lifted to the upper surface of perpendicular steps by swinging rocking arm 3-1 and stepping.
As shown in Figure 8, in the time that mobile device front-wheel arrives perpendicular steps upper surface, front stepping is supported 3-2 and is upwards lifted, rear stepping is supported to 4-2 to be placed on ground, the upper surface that by the actuating device collaborative work of wheel 2 actuating devices and rear swing Rocker arm 4-1 and stepping support 4-2, the rear arbor wheel of mobile device is placed in to perpendicular steps, it is under available contrary order that mobile device is got out of a predicament or an embarrassing situation.The method of the available perpendicular steps of the ascending stair of ascending under the collaborative work of wheel 2 and front and back stepping propulsive mechanism.
In sum, the stepping propulsive mechanism 3 and 4 of the present embodiment can be by crossing over the collaborative work of wheel 2 obstacle that wheeled mobile device can not be crossed over, and this device has folder function, simple and reliable for structure, do not affect the high-speed and high-efficiency exercise performance of its wheel type mobile system at folding rounding state.Can realize the climbing of the obstacle to difformity differing heights by swinging the collaborative work of rocking arm and stepping support, in strengthening its obstacle climbing ability, also strengthened its device self-saving ability, at soft sand ground, snowfield, while the complex-terrain environment such as paddling, this stepping moving device can be brought into play its usefulness.Greatly improve the complex-terrain adaptive capacity of wheeled mobile device.And this mobile device is by small-sized structure design, can apply to soldier and carry, carry out scouting, detection, weapon lift-launch.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the technology of the present invention principle; can also make some improvement and distortion, these improvement and distortion also should be considered as protection scope of the present invention.
Claims (4)
1. a portable wheeled mobile device with stepping propulsive mechanism, is characterized in that, described device comprises:
Car body (1), be arranged on wheel group on car body (1), be installed on the first stepping propulsive mechanism (3) of car body (1) front upper and be installed on the second stepping propulsive mechanism (4) of top, car body (1) rear portion;
Described the first stepping propulsive mechanism (3) comprising: first swings rocking arm (3-1) and the first stepping support (3-2); Described the second stepping propulsive mechanism (4) comprising: second swings rocking arm (4-1) and the second stepping support (4-2);
Described first swings rocking arm (3-1) is articulated with anterior (O1) position of car body (1) rotationally, and be set to rotate around first turning cylinder (I) at hinge point place, it is hinged with the first swing rocking arm (3-1) rotationally that (3-2) supported in described the first stepping, and be set to rotate around second turning cylinder (II) at hinge point place; Described second swings rocking arm (4-1) is articulated with position, car body (1) rear portion (O2) rotationally, and be set to rotate around the 3rd turning cylinder (III) at hinge point place, it is hinged with the second swing rocking arm (4-1) rotationally that (4-2) supported in described the second stepping, and be set to rotate around the 4th turning cylinder (IV) at hinge point place; The described first driver element that swings rocking arm (3-1) and the second swing support arm (4-1) is arranged at car body inside, be independent driving unit, the the first stepping support drive unit (3-3) that is used for driving described the first stepping to support (3-2) is arranged at the first swing rocking arm (3-1), is arranged at the second swing rocking arm (4-1) for the second stepping support drive unit (4-3) that drives described the second stepping to support (4-2); Described first swings rocking arm (3-1) for the first stepping propulsive mechanism (3) is swung to correct position, then realizes the climbing to obstacle by the bearing rotation of the first stepping support (3-2); Described second swings rocking arm (4-1) for the second stepping propulsive mechanism (4) is swung to correct position, then realizes the climbing to obstacle by the bearing rotation of the second stepping support (4-2).
2. the portable wheeled mobile device with stepping propulsive mechanism as claimed in claim 1, it is characterized in that, described wheel group comprises the wheel (2) of four same sizes, is divided into: off front wheel (2-1), the near front wheel (2-2), off hind wheel (2-3) and left rear wheel (2-4);
Described car body is provided with front axle and rear axle on (1);
Described off front wheel (2-1) and the near front wheel (2-2) are arranged on front axle, and off hind wheel (2-3) and left rear wheel (2-4) are arranged on rear axle.
3. the portable wheeled mobile device with stepping propulsive mechanism as claimed in claim 2, is characterized in that, the assemblage gap (b) between each described wheel (2) and car body (1) is more than or equal to the width that swings rocking arm.
4. the portable wheeled mobile device with stepping propulsive mechanism as claimed in claim 2, it is characterized in that, the outside width (B1) between two wheels (2) of installing separately on described front axle and rear axle is all less than or equal to described the first stepping and supports (3-2) and the second stepping support (4-2) inner side width (B2) separately.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410055595.0A CN103802906B (en) | 2014-02-19 | 2014-02-19 | There is the portable wheeled mobile device of stepping propulsive mechanism |
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| CN201410055595.0A CN103802906B (en) | 2014-02-19 | 2014-02-19 | There is the portable wheeled mobile device of stepping propulsive mechanism |
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| CN103802906A true CN103802906A (en) | 2014-05-21 |
| CN103802906B CN103802906B (en) | 2017-03-15 |
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| CN104647343A (en) * | 2015-03-13 | 2015-05-27 | 北京理工大学 | Micro-miniature overturning stair-climbing robot |
| CN108214447A (en) * | 2018-01-05 | 2018-06-29 | 何镜连 | Intelligent robot mobile platform |
| CN111746678A (en) * | 2019-03-29 | 2020-10-09 | 杭州萤石软件有限公司 | Wall surface cleaning robot and control method thereof |
| CN112757317A (en) * | 2020-12-30 | 2021-05-07 | 北京信息科技大学 | Large-scale aerogenerator wall climbing detection robot |
| CN114313085A (en) * | 2021-12-28 | 2022-04-12 | 摩拜(北京)信息技术有限公司 | Frame subassembly and vehicle |
| CN114802519A (en) * | 2022-05-25 | 2022-07-29 | 西南科技大学 | Robot with wheel leg structure and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104647343A (en) * | 2015-03-13 | 2015-05-27 | 北京理工大学 | Micro-miniature overturning stair-climbing robot |
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| CN114802519A (en) * | 2022-05-25 | 2022-07-29 | 西南科技大学 | Robot with wheel leg structure and control method thereof |
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| CN103802906B (en) | 2017-03-15 |
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