CN104385844B - Fork Variable Eccentricity Stump-jump wheel - Google Patents
Fork Variable Eccentricity Stump-jump wheel Download PDFInfo
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- CN104385844B CN104385844B CN201410766904.5A CN201410766904A CN104385844B CN 104385844 B CN104385844 B CN 104385844B CN 201410766904 A CN201410766904 A CN 201410766904A CN 104385844 B CN104385844 B CN 104385844B
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- stump
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Abstract
The invention discloses a kind of fork Variable Eccentricity Stump-jump wheel, including circle wheel, fork and line shaft, described fork one end is hinged on circle wheel edge, its other end is swingable, the swingable one end of described line shaft and fork is in transmission connection, described circle wheel is provided with the stopping means of restriction fork amplitude of fluctuation, described stopping means includes limit point and is arranged on fork limited block I and the fork limited block II of diverse location, the limit point of described fork limited block I is arranged on circle wheel edge, the limit point of described fork limited block II is arranged on circle wheel centre.The present invention makes fork swing to different limit points by the change of line shaft rotation direction thus adjusting Stump-jump wheel for circle wheel or eccentric, it is not necessary to extra power set；Thus realizing regular ground to use the function that circle wheel is mobile, non-regular landform uses eccentric obstacle detouring, therefore, have very strong mobile efficiency and obstacle climbing ability.
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 are not intended merely to robot efficient obstacle climbing ability in irregular landform, and wishes that there is efficient locomotivity in robot in rule landform.Therefore, in the process of robot probe, how to realize high obstacle climbing ability and height to move the combination of efficiency be a highly important problem.
Robot local environment is mostly complicated unstructured moving grids, it is therefore desirable to robot high maneuverability, powerful environment sensing ability and quick respond.In mobile barrier-surpassing robot detection is mobile, running into various landform, some landform are regular, and what have is with a varied topography.In traditional scheme, robot moves and generally uses circle wheel (wheeled) or eccentric (lower limb formula).Wherein wheeled most effective, but obstacle detouring adaptive capacity is worst；And the adaptive capacity of lower limb formula is the strongest, but mobile efficiency is worst.In rule landform, circle wheel has higher mobile efficiency, but obstacle climbing ability is very poor；On irregular terrain profiles, eccentric can play very strong obstacle climbing ability, but mobile efficiency is but very low.These two kinds of realizations are respectively provided with significant limitation, so there being relevant improvement opportunity at present, as: run in moving process barrier just pull down circle wheel change into eccentric or use extra electric device by power axle center change, thus forming eccentric or circle wheel, to adapt to the movement of different terrain.But above improvement project also has very big problem, ratio, if desired for dismantling wheel or increasing extra power set, even increases the weight of robot itself, so that robot locomotivity reduces, cost increases, and range of application also can limit to some extent.
Summary of the invention
In view of this, it is an object of the invention to provide a kind of fork Variable Eccentricity Stump-jump wheel, to overcome the drawbacks described above of prior art, make robot have very strong mobile efficiency and obstacle climbing ability.
It is an object of the invention to be achieved through the following technical solutions:
A kind of fork Variable Eccentricity Stump-jump wheel, including circle wheel, fork and line shaft, described fork one end is hinged on circle wheel edge, its other end is swingable, the swingable one end of described line shaft and fork is in transmission connection, and described circle wheel is provided with the stopping means of restriction fork amplitude of fluctuation.
Further, described stopping means includes limit point and is arranged on fork limited block I and the fork limited block II of diverse location.
Further, the limit point of described fork limited block I is arranged on circle wheel edge, and the limit point of described fork limited block 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 line shaft rotation direction thus adjusting Stump-jump wheel for circle wheel or eccentric, it is not necessary to extra power set；Thus realizing regular ground to use the function that circle wheel is mobile, non-regular landform uses eccentric obstacle detouring, therefore, have very strong mobile efficiency and obstacle climbing ability.
Other advantages of the present invention, target and feature will be illustrated to a certain extent in the following description, and to a certain extent, will be apparent to those skilled in the art based on to investigating hereafter, or can be instructed from the practice of the present invention.The target of the present invention and other advantages can be realized by description 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 present configuration；
Fig. 2 is the schematic diagram that Stump-jump wheel of the present invention moves forward；
Fig. 3 is the schematic diagram that Stump-jump wheel of the present invention is moved rearwards by；
In figure, 1-fork, 2-circle wheel, 3-fork limited block II, 4-fork limited block I, 5-middle hinge axle, 6-line shaft.
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 is only for illustrating the present invention, rather than in order to limit the scope of the invention.
As shown in Figure 1, a kind of fork Variable Eccentricity Stump-jump wheel, including circle wheel 2, fork 1 and line shaft 6, described fork one end is hinged on circle wheel edge, its other end is swingable, described line shaft 6 one end swingable with fork is in transmission connection, and described circle wheel is provided with the stopping means of restriction fork amplitude of fluctuation.
In the present embodiment, described stopping means includes limit point and is arranged on fork limited block I 4 and the fork limited block II 3 of diverse location, the limit point of described fork limited block I 4 is arranged on circle wheel edge, and the limit point of described fork limited block II 3 is arranged on circle wheel centre.
The present embodiment uses the metal fork 1 that a first half and hinge are all weldingly fixed on circle wheel, the latter half of fork can swing around middle hinge axle 5, use the fork limited block I being welded on circle wheel and fork limited block II (the two is all arc-shaped baffle) as stopping means, the lower end, the latter half of fork is connected with line shaft 6, line shaft is connected with power set, fork the latter half is driven to swing around middle hinge axle 5 when line shaft rotates, when fork the latter half after swinging to limit point limited device spacing, thus adjusting the size of eccentric throw.
In embodiments of the present invention, when line shaft drives fork to swing to fork limited block I 4, due to the position-limiting action of stopping means, eccentric throw now is maximum, and Stump-jump wheel can be used as eccentric and uses；When line shaft drives fork to swing to fork limited block II 3, due to the position-limiting action of stopping means, eccentric throw now is minimum, and Stump-jump wheel can be used as circle wheel and uses.
The variable eccentric Stump-jump wheel of fork of the embodiment of the present invention, simple in construction, volume is little, lightweight, without extra driving device, controlling simply and easily to realize, be that circle wheel advances under regular landform, sport efficiency is higher, when walking under irregular landform, being adjusted to eccentric to advance, circle wheel and eccentric independently switch in traveling process, compared with other Stump-jump wheel, sport efficiency is higher, and obstacle climbing ability is better.
What finally illustrate is, above example is only in order to illustrate technical scheme and unrestricted, although the present invention being described in detail with reference to preferred embodiment, it will be understood by those within the art that, technical scheme can be modified or equivalent replacement, without deviating from objective and the scope of the technical program, it all should be encompassed in the middle of scope of the presently claimed invention.
Claims (3)
1. a fork Variable Eccentricity Stump-jump wheel, it is characterized in that: include circle wheel, fork and line shaft, described fork one end is hinged on circle wheel edge, its other end is swingable, the swingable one end of described line shaft and fork is in transmission connection, and described circle wheel is provided with the stopping means of restriction fork amplitude of fluctuation.
2. fork Variable Eccentricity Stump-jump wheel according to claim 1, it is characterised in that: described stopping means includes limit point and is arranged on fork limited block I and the fork limited block II of diverse location.
3. fork Variable Eccentricity Stump-jump wheel according to claim 2, it is characterised in that: the limit point of described fork limited block I is arranged on circle wheel edge, and the limit point of described fork limited block 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 CN104385844A (en) | 2015-03-04 |
| CN104385844B true CN104385844B (en) | 2016-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410766904.5A Active CN104385844B (en) | 2014-12-12 | 2014-12-12 | Fork Variable Eccentricity Stump-jump wheel |
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| CN (1) | CN104385844B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10230880A1 (en) * | 2002-06-07 | 2003-12-24 | Chi Fa Intellectual Economy In | Exercise machine with internal tangential drive |
| DE102006053299A1 (en) * | 2006-11-13 | 2008-05-15 | Bayerische Motoren Werke Ag | Vehicle wheel for a two-lane vehicle or cover for this |
| JP5604993B2 (en) * | 2010-06-02 | 2014-10-15 | 日本精工株式会社 | Mobile device |
| DE102011084198B4 (en) * | 2011-10-10 | 2017-05-18 | Saf-Holland Gmbh | Axis adjustment for rigid axles of commercial 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 |
| CN103895449B (en) * | 2014-04-16 | 2016-01-20 | 刘达孟 | The cycle hub in removable axle center |
| CN204278928U (en) * | 2014-12-12 | 2015-04-22 | 西南大学 | Fork Variable Eccentricity Stump-jump wheel |
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- 2014-12-12 CN CN201410766904.5A patent/CN104385844B/en active Active
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| CN104385844A (en) | 2015-03-04 |
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