CN104385844A - Variable-eccentric-distance obstacle-crossing wheel with swing rod - Google Patents
Variable-eccentric-distance obstacle-crossing wheel with swing rod Download PDFInfo
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- CN104385844A CN104385844A CN201410766904.5A CN201410766904A CN104385844A CN 104385844 A CN104385844 A CN 104385844A CN 201410766904 A CN201410766904 A CN 201410766904A CN 104385844 A CN104385844 A CN 104385844A
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Abstract
The invention discloses a variable-eccentric-distance obstacle-crossing wheel with a swing rod. The obstacle-crossing wheel comprises a round wheel, the swing rod and a power shaft, wherein one end of the swing rod is hinged to the edge of the round wheel, and the other end of the swing rod can freely swing; the power shaft is connected with the freely swingable end of the swing rod in a transmission manner; a limiting device for limiting the swing amplitude of the swing rod is arranged on the round wheel; the limiting device comprises swing rod limiting blocks (I and II) with limiting points arranged in different positions; the limiting points of the swing rod limiting block I are arranged on the edge of the round wheel; the limiting points of the swing rod limiting block II is arranged in the center of the round wheel. According to the obstacle-crossing wheel, the swing rod swings to different limiting points by changing the rotary direction of a power shaft so as to adjust the obstacle-crossing wheel to be a round wheel or an eccentric wheel, and an additional power device is not required; the functions of moving on the regular ground by the round wheel and crossing an obstacle on the non-regular terrain can be performed, so that the obstacle-crossing wheel is very high in moving efficiency and obstacle-crossing capability.
Description
Technical field
The invention belongs to barrier-surpassing robot field, be specifically related to a kind of Stump-jump wheel.
Background technology
Along with the scope of robot probe constantly expands, we are also more and more higher to the requirement of robot, and we not only wish that robot has efficient obstacle climbing ability in irregular landform, and wish that robot has efficient locomotivity in regular landform.Therefore, in the process of robot probe, the combination how realizing high obstacle climbing ability and the mobile efficiency of height is a very important problem.
Environment residing for robot is mostly complicated unstructured moving grids, therefore needs robot high maneuverability, powerful environment sensing ability and fast speed capability of reaction.In mobile barrier-surpassing robot detection is mobile, can run into various landform, some landform are regular, and what have is with a varied topography.In traditional scheme, robot moves the general circle that uses and takes turns (wheeled) or eccentric wheel (leg formula).Wherein wheeled most effective, but obstacle detouring adaptive capacity is the poorest; And the adaptive capacity of leg formula is the strongest, but mobile efficiency is the poorest.In regular landform, circle wheel has higher mobile efficiency, but obstacle climbing ability is very poor; On irregular terrain profiles, eccentric wheel can play very strong obstacle climbing ability, but mobile efficiency is but very low.These two kinds realizations all have significant limitation, so there is relevant improvement opportunity at present, as: run in moving process obstacle just pull down circle wheel change eccentric wheel into or use extra electric device to be changed in power axle center, thus form eccentric wheel or circle wheel, to adapt to the movement of different terrain.But above improvement project also has very large problem, such as need dismounting wheel or increase extra engine installation, even increasing the weight of robot itself, thus robot locomotivity is reduced, cost increases, and field of application also can limit to some extent.
Summary of the invention
In view of this, the object of this invention is to provide a kind of fork Variable Eccentricity Stump-jump wheel, to overcome the above-mentioned defect of prior art, make robot have very strong mobile efficiency and obstacle climbing ability.
The object of the invention is to be achieved through the following technical solutions:
A kind of fork Variable Eccentricity Stump-jump wheel, comprise circle wheel, fork and dynamical axis, described fork one end is hinged on circle wheel edge, its other end is swingable, described dynamical axis and the swingable one end of fork are in transmission connection, and described circle wheel are provided with the inhibiting device of restriction fork amplitude of fluctuation.
Further, described inhibiting device comprises fork limiting stopper I and the fork limiting stopper II that limit point is arranged on diverse location.
Further, the limit point of described fork limiting stopper I is arranged on circle wheel edge, and the limit point of described fork limiting stopper II is arranged on circle wheel centre.
The invention has the beneficial effects as follows: the present invention makes fork swing to different limit points by the change of dynamical axis rotation direction thus adjustment Stump-jump wheel is circle wheel or eccentric wheel, does not need extra engine installation; Thus realize the function that regular ground uses mobile, the non-regular landform use eccentric wheel obstacle detouring of circle wheel, therefore, have very strong mobile efficiency and obstacle climbing ability.
Other advantages of the present invention, target and feature will be set forth to a certain extent in the following description, and to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, or can be instructed from the practice of the present invention.Target of the present invention and other advantages can be realized by specification sheets below and obtain.
Accompanying drawing explanation
In order to make the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail, wherein:
Fig. 1 is the schematic diagram of structure of the present invention;
Fig. 2 is the schematic diagram that Stump-jump wheel of the present invention moves forward;
Fig. 3 is the schematic diagram of Stump-jump wheel of the present invention movement backward;
In figure, 1-fork, 2-circle wheel, 3-fork limiting stopper II, 4-fork limiting stopper I, 5-middle hinge axle, 6-dynamical axis.
Detailed description of the invention
Hereinafter with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail.Should be appreciated that preferred embodiment only in order to the present invention is described, instead of in order to limit the scope of the invention.
As shown in Figure 1, a kind of fork Variable Eccentricity Stump-jump wheel, comprise round wheel 2, fork 1 and dynamical axis 6, described fork one end is hinged on circle wheel edge, its other end is swingable, described dynamical axis 6 one end swingable with fork is in transmission connection, and described circle wheel is provided with the inhibiting device of restriction fork amplitude of fluctuation.
In the present embodiment, described inhibiting device comprises fork limiting stopper I 4 and the fork limiting stopper II 3 that limit point is arranged on diverse location, the limit point of described fork limiting stopper I 4 is arranged on circle wheel edge, and the limit point of described fork limiting stopper II 3 is arranged on circle wheel centre.
The present embodiment uses a first half and hinge to be all weldingly fixed on the metal fork 1 justified on wheel, the latter half of fork can swing around middle hinge axle 5, use be welded on circle wheel on fork limiting stopper I and fork limiting stopper II (the two is all arc-shaped baffle) as inhibiting device, the latter half lower end of fork is connected with dynamical axis 6, dynamical axis is connected with engine installation, fork the latter half is driven to swing around middle hinge axle 5 when dynamical axis rotates, after fork the latter half swings to limit point, limited device is spacing, thus the size of adjustment eccentric throw.
In embodiments of the present invention, when dynamical axis drives fork to swing to fork limiting stopper I 4, due to the position-limiting action of inhibiting device, eccentric throw is now maximum, and namely Stump-jump wheel can be used as eccentric wheel and use; When dynamical axis drives fork to swing to fork limiting stopper II 3, due to the position-limiting action of inhibiting device, eccentric throw is now minimum, and namely Stump-jump wheel can be used as circle wheel and use.
The variable eccentric Stump-jump wheel of fork of the embodiment of the present invention, structure is simple, and volume is little, lightweight, without the need to extra actuating device, control simply and easily realize, be that circle wheel advances under regular landform, sport efficiency is higher, when walking under irregularity landform, be adjusted to eccentric wheel to advance, circle wheel and eccentric wheel independently switch, compared with other Stump-jump wheel in traveling process, sport efficiency is higher, and obstacle climbing ability is better.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of the technical program, it all should be encompassed in the middle of right of the present invention.
Claims (3)
1. a fork Variable Eccentricity Stump-jump wheel, it is characterized in that: comprise circle wheel, fork and dynamical axis, described fork one end is hinged on circle wheel edge, its other end is swingable, described dynamical axis and the swingable one end of fork are in transmission connection, and described circle wheel are provided with the inhibiting device of restriction fork amplitude of fluctuation.
2. fork Variable Eccentricity Stump-jump wheel according to claim 1, is characterized in that: described inhibiting device comprises fork limiting stopper I and the fork limiting stopper II that limit point is arranged on diverse location.
3. fork Variable Eccentricity Stump-jump wheel according to claim 2, is characterized in that: the limit point of described fork limiting stopper I is arranged on circle wheel edge, and the limit point of described fork limiting stopper II is arranged on circle wheel centre.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410766904.5A CN104385844B (en) | 2014-12-12 | 2014-12-12 | Fork Variable Eccentricity Stump-jump wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410766904.5A CN104385844B (en) | 2014-12-12 | 2014-12-12 | Fork Variable Eccentricity Stump-jump wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104385844A true CN104385844A (en) | 2015-03-04 |
| CN104385844B CN104385844B (en) | 2016-07-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410766904.5A Active CN104385844B (en) | 2014-12-12 | 2014-12-12 | Fork Variable Eccentricity Stump-jump wheel |
Country Status (1)
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| CN (1) | CN104385844B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106985607A (en) * | 2017-03-29 | 2017-07-28 | 南京邮电大学 | The controllable driving moment in center applied to robot and position control method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030228961A1 (en) * | 2002-06-07 | 2003-12-11 | Shih-Ming Huang | Inner tangentially driving exerciser |
| EP1920948A2 (en) * | 2006-11-13 | 2008-05-14 | Bayerische Motoren Werke Aktiengesellschaft | Vehicle wheel for a double-track vehicle or cover therefore |
| JP2011251632A (en) * | 2010-06-02 | 2011-12-15 | Nsk Ltd | Moving device |
| CN202782474U (en) * | 2012-09-11 | 2013-03-13 | 浙江理工大学 | Ball limiting type repeated folding and unfolding wheel locking and unlocking mechanism |
| CN103857533A (en) * | 2011-10-10 | 2014-06-11 | 塞夫霍兰德有限公司 | Axle adjustment for axles of utility vehicles |
| CN103895449A (en) * | 2014-04-16 | 2014-07-02 | 刘达孟 | Bicycle hub with movable axle center |
| CN204278928U (en) * | 2014-12-12 | 2015-04-22 | 西南大学 | Fork Variable Eccentricity Stump-jump wheel |
-
2014
- 2014-12-12 CN CN201410766904.5A patent/CN104385844B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030228961A1 (en) * | 2002-06-07 | 2003-12-11 | Shih-Ming Huang | Inner tangentially driving exerciser |
| EP1920948A2 (en) * | 2006-11-13 | 2008-05-14 | Bayerische Motoren Werke Aktiengesellschaft | Vehicle wheel for a double-track vehicle or cover therefore |
| JP2011251632A (en) * | 2010-06-02 | 2011-12-15 | Nsk Ltd | Moving device |
| CN103857533A (en) * | 2011-10-10 | 2014-06-11 | 塞夫霍兰德有限公司 | Axle adjustment for axles of utility vehicles |
| CN202782474U (en) * | 2012-09-11 | 2013-03-13 | 浙江理工大学 | Ball limiting type repeated folding and unfolding wheel locking and unlocking mechanism |
| CN103895449A (en) * | 2014-04-16 | 2014-07-02 | 刘达孟 | Bicycle hub with movable axle center |
| CN204278928U (en) * | 2014-12-12 | 2015-04-22 | 西南大学 | Fork Variable Eccentricity Stump-jump wheel |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106985607A (en) * | 2017-03-29 | 2017-07-28 | 南京邮电大学 | The controllable driving moment in center applied to robot and position control method |
| CN106985607B (en) * | 2017-03-29 | 2019-02-26 | 南京邮电大学 | Center applied to robot controllable driving wheel and position control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104385844B (en) | 2016-07-06 |
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