CN104648504A - Spring wheel-leg creeping device of bionic amphibious robot - Google Patents
Spring wheel-leg creeping device of bionic amphibious robot Download PDFInfo
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- CN104648504A CN104648504A CN201310578465.0A CN201310578465A CN104648504A CN 104648504 A CN104648504 A CN 104648504A CN 201310578465 A CN201310578465 A CN 201310578465A CN 104648504 A CN104648504 A CN 104648504A
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- sleeve
- locking nut
- amphibious robot
- spring loaded
- sliding bar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a creeping device of a robot, in particular to a spring wheel-leg creeping device of a bionic amphibious robot. The spring wheel-leg creeping device comprises a wheel leg, a lock nut, a sleeve, a compression spring and a rotation shaft, wherein one end of the rotation shaft is connected with a drive unit installed in the bionic amphibious robot, and the rotation shaft is driven by the drive unit to rotate; one end of the sleeve is connected with the other end of the rotation shaft, and the sleeve is driven to rotate by the rotation shaft; the other end of the sleeve is connected with the wheel leg through the lock nut, and the wheel leg slides relative to the sleeve in a reciprocating manner; the compression spring for achieving the cushioning effect is accommodated in the sleeve; and two ends of the compression spring are abutted against the wall of the sleeve and the wheel leg is arranged in one end of the sleeve in an insertion manner. The spring wheel-leg creeping device of the bionic amphibious robot has the characteristics of good stability in movement, high crawling capability, compact structure, flexibility and controllability, high environment adaptability and the like.
Description
Technical field
The present invention relates to the crawling device of robot, specifically a kind of bionical amphibious robot spring loaded takes turns sufficient crawling device.
Background technology
That is familiar with ocean along with the mankind gos deep into, and the Very Shallow Water that flood and field is connected, breaker zone, surfzone and beach area become one of key area of the aspect application such as scientific research in recent years, environmental monitoring, investigation and sampling and military field and concern.Amphibious robot is a kind of extraordinary mobile robot that can realize special exercise or operation in land and water, and it can realize the amphibious job task that existing under-water robot and land robot cannot realize.According to the difference of driver train and mode of motion, existing amphibious robot roughly can be divided into the single driving and large class of combination flooding ejector half two.No matter the amphibious robot of single drive mode, be polypody, fluctuation-type, wheeled, crawler type etc., be all difficult to meet the requirement in robot speed in water or on land, obstacle detouring, manoevreability, stability etc. completely.In order to realize the High Performance motion of amphibious robot respectively in water and under the various modes of land, improve robot to the adaptive capacity of amphibious complex environment, the amphibious robot developed based on novel driving device becomes one of the important research direction and development tendency of amphibious robot in recent years.
Summary of the invention
More weak in order to overcome existing amphibious robot Land Movement ability under amphibious environment, the deficiency that the aspects such as rapidity, manoevreability and stability exist, the object of the present invention is to provide a kind of bionical amphibious robot spring loaded to take turns sufficient crawling device.The spring loaded that should provide for bionical amphibious robot takes turns that sufficient crawling device has that stability of motion is good, ability of creeping strong, compact conformation, controlled, adaptive capacity to environment is strong flexibly feature, in conjunction with the bionic movement implementation method of amphibious robot, the land crawling exercises performance of amphibious robot effectively can be promoted.
The object of the invention is to be achieved through the following technical solutions:
The present invention includes wheel foot, jam nut, sleeve, Compress Spring and turning cylinder, wherein one end of turning cylinder is connected with the driver element be arranged in described bionical amphibious robot, is rotated by this drive unit drives, one end of described sleeve is connected with the other end of turning cylinder, by turning cylinder driven rotary, the other end of described sleeve is connected by jam nut with wheel foot, and wheel foot reciprocatingly slides relative to sleeve; Described medicament has been equipped with the Compress Spring of cushioning effect, and the two ends of this Compress Spring are connected to sleeve wall respectively and described foot of taking turns is inserted in one end in sleeve.
Wherein: described jam nut comprises outer locking nut and internal locking nut, and this outer locking nut thread is connected to the other end of described sleeve, wheel foot is passed by described outer locking nut, inserts in sleeve; Described internal locking nut is positioned at sleeve, and the wheel foot inserted in sleeve is connected with described internal locking nut thread; Described foot of taking turns comprises pedal plate and sliding bar, wherein sliding bar is passed by the internal diameter of described outer locking nut, one end that described sliding bar is positioned at sleeve is connected with the internal diameter whorl of described internal locking nut, and abut with described Compress Spring, the described sliding bar other end be positioned at outside sleeve is provided with the pedal plate with earth surface; Free-running fit is between the internal diameter of described sliding bar and outer locking nut and between the external diameter of internal locking nut and the barrel of sleeve; The lower surface of described outer locking nut and the end face of the sleeve other end coplanar, the upper surface of described internal locking nut and one end end face of sliding bar coplanar; Described outer locking nut, sleeve, internal locking nut, sliding bar and pedal plate are coaxially arranged; One end of described sleeve has fixed orifice, and the other end of turning cylinder is threaded hole, and the other end of turning cylinder is passed by described fixed orifice, and is connected by connecting key and lock screw and described sleeve.
Advantage of the present invention and good effect are:
1. spring loaded of the present invention takes turns the stability that sufficient crawling device effectively can promote the crawling exercises of four-footed amphibious robot: the spring loaded Compress Spring of taking turns in sufficient crawling device can alleviate wheel foot and the impact in earth surface process effectively, reduce robot center of gravity at vertical variable quantity, ensure the resistance to overturning of robot.
2. spring loaded of the present invention takes turns the ability of creeping that sufficient crawling device effectively can improve amphibious robot: under equi-stable requirement and equal drive condition, spring loaded of the present invention wheel foot is the variable device of a radius of turn in crawling process, embodies better obstacle performance; Compared with simultaneously fixing with radius of turn rigid wheel foot, the present invention effectively can increase the contact time on the whole plate of wheel and ground, increases the creep distance of robot in an orbit period.
3. spring loaded of the present invention takes turns the method for designing that sufficient crawling device structurally adopts integration, and convenient operating maintenance, compact conformation, alleviates the weight of robot carrier, is conducive to the miniaturization of bionical amphibious robot entirety.
4. spring loaded of the present invention is taken turns sufficient crawling device and is had wheeled and movement characteristic that is Tui Shi travel mechanism concurrently, has controllability good, the features such as adaptive capacity to environment is strong.
Accompanying drawing explanation
Fig. 1 is that spring loaded of the present invention takes turns the layout structure schematic diagram of sufficient crawling device on bionic amphibious robot;
Fig. 2 is front sectional view of the present invention;
Fig. 3 is left view of the present invention;
Fig. 4 is perspective view of the present invention;
Fig. 5 has installed the working process schematic diagram that spring loaded of the present invention takes turns the bionic amphibious robot of sufficient crawling device;
Wherein: 1 takes turns sufficient crawling device for spring loaded, and 2 is bow, and 3 is trunk, and 4 is stern, and 5 is bionic caudal fin, 6 is wheel foot, and 7 is outer locking nut, and 8 is sleeve, and 9 is internal locking nut, and 10 is Compress Spring, 11 is connecting key, and 12 is lock screw, and 13 is turning cylinder, and 14 is pedal plate, and 15 is sliding bar.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in figs. 2 to 4, the present invention includes and comprise wheel foot 6, jam nut, sleeve 8, Compress Spring 10, connecting key 11, lock screw 12 and turning cylinder 13, wherein jam nut comprises outer locking nut 7 and internal locking nut 9, and wheel foot 6 comprises pedal plate 14 and sliding bar 15.
One end of turning cylinder 13 is connected with the driver element be arranged in bionical amphibious robot, take turns by this drive unit drives spring loaded the rotation that sufficient crawling device 1 produces the moving axis 13 that rotates, one end of sleeve 8 has fixed orifice, the other end of turning cylinder 13 is threaded hole, the other end of turning cylinder 13 is passed by described fixed orifice, and be connected with sleeve 8 by connecting key 11 and lock screw 12, sleeve 8 is by turning cylinder 13 driven rotary; Wherein connecting key 11 is located for the circumference realized between sleeve 8 and turning cylinder 13, is not relatively rotated, and lock screw 12 is for realizing the axial location between sleeve 8 and turning cylinder 13.The other end of sleeve 8 is open end, the end thread of this open end is connected with outer locking nut 7, internal locking nut 9 is contained in the internal cavities of sleeve 8, the lower surface of this outer locking nut 7 and the end face of sleeve 8 other end coplanar, the external diameter of internal locking nut 9 and the sidewall of sleeve 8 internal cavities are free-running fit smoothly of sliding.
Sliding bar 15 is passed by the internal diameter of outer locking nut 7, is inserted in the cavity of sleeve 8, is free-running fit smoothly of sliding between the internal diameter of sliding bar 15 and outer locking nut 7.One end that sliding bar 15 is positioned at sleeve 8 cavity is connected with the internal diameter whorl of internal locking nut 9, the upper surface of internal locking nut 9 and one end end face of sliding bar 15 coplanar, sliding bar 15 other end be positioned at outside sleeve 8 is provided with the pedal plate 14 with earth surface.Outer locking nut 7, sleeve 8, internal locking nut 9, sliding bar 15 and pedal plate 14 are coaxially arranged.
The compartment of sleeve 8 has been equipped with the Compress Spring 10 of cushioning effect, and the external diameter of this Compress Spring 10 is less than the cavity diameter of sleeve 8; One end of Compress Spring 10 is connected to the roof of sleeve 8 cavity, and the other end of Compress Spring 10 is connected to sliding bar 15 and is inserted in one end in sleeve 8.
Principle of work of the present invention is:
Spring loaded of the present invention is taken turns sufficient crawling device and is had wheeled and movement characteristic that is Tui Shi travel mechanism concurrently, is described in detail to its principle of work of creeping below in conjunction with Fig. 1 and Fig. 4:
In conjunction with bionics Study analysis result, spring loaded of the present invention takes turns the distribution employing form as shown in Figure 1 of sufficient crawling device on bionic amphibious robot carrier, the feature of simulation land and water amphibian Four-feet creeping, robot carrier is equipped with two and sufficient crawling device 1 is taken turns to (totally four groups) spring loaded, wherein a pair spring loaded is taken turns sufficient crawling device 1 and is symmetrically arranged on the bow 2 of bionical amphibious robot, and another is taken turns sufficient crawling device 1 to spring loaded and is symmetrically arranged on the stern 4 of bionical amphibious robot; Bow 2 and stern 4 are connected on trunk 3 by respective revolute joint; In order to realize moving about of bionical amphibious robot under water, stern 4 is provided with the bionic caudal fin 5 for swinging propelling under water.
Four groups of spring loadeds are taken turns sufficient crawling device 1 and are adopted independently drive unit drives respectively, and its when creeping according to following gait planning: left front with right back spring loaded is taken turns sufficient crawling device and is had identical phase place A, right front with left back spring loaded is taken turns sufficient crawling device and is had identical phase place B, along with the continuous rotation of turning cylinder 13, phase place A, B constantly switch between unsettled phase and support mutually.So-called unsettled phase place when referring to that wheel foot 6 does not contact with ground in rotary course mutually; Support and refer to that wheel foot 6 contacts with ground in rotary course mutually, and phase place when supporting is formed to robot body.Wherein phase place A and phase place B meet following motion planning condition: when phase place A switches to support phase time mutually by unsettled, phase place B then just switches to unsettled phase by supporting mutually; And when phase place A switches to unsettled phase time mutually by supporting, phase place B then just switches to support phase by unsettled mutually.
The motion process of taking turns sufficient crawling device for left front spring loaded analyzes the feature of device of the present invention when crawling exercises: under the driving at driver element, turning cylinder 13 produces the rotation around its axis, spring loaded is taken turns sufficient crawling device 1 and is switched to support phase mutually by unsettled, pedal plate 14 kiss the earth of this hour wheel foot 6, along with being rotated further of turning cylinder 13, wheel foot 6 is subject to the contact friction force on ground, thus promotes the power that robot produces advance; Simultaneously vertical, owing to being subject to the gravity effect of robot body, wheel foot 6 forms the compression to Compress Spring 10 together with internal locking nut 9, Compress Spring 10 shortens, the part that wheel foot 6 embeds sleeve 8 cavity together with internal locking nut 9 increases, make spring loaded take turns the rotate radius of turn of moving axis 13 of sufficient crawling device 1 to reduce, thus alleviate amphibious robot carrier center of gravity in vertical change, Compress Spring 10 plays the effect of damping; When the axis of taking turns foot 6 is perpendicular to the ground, the Compress Spring 10 that spring loaded takes turns sufficient crawling device 1 is in most compressed state.Along with being rotated further of turning cylinder 13, the axis of wheel foot 6 is no longer vertical with ground, robot gravity progressively reduces at the component of wheel foot 6 axis directions, Compress Spring 10 starts bounce-back, the part that wheel foot 6 embeds sleeve 8 cavity together with internal locking nut 9 progressively reduces, make spring loaded take turns the rotate radius of turn of moving axis 13 of sufficient crawling device 1 progressively to increase, thus again alleviate amphibious robot carrier center of gravity in vertical change, Compress Spring 10 plays the effect of damping equally.Along with being rotated further of turning cylinder 13, the pedal plate 14 of wheel foot 6 leaves ground, and spring loaded is taken turns sufficient crawling device 1 and switched to unsettled phase, enters next orbit period.
It is as follows that spring loaded of the present invention takes turns sufficient crawling device 1 assemble flow: first, passed the end, sliding bar 15 one end of outer locking nut 7 trailing wheel foot 6, and be enclosed within the sliding bar 15 of wheel foot 6; Then internal locking nut 9 is connected by screw thread and wheel foot 6, is torqued-up to concordant with sliding bar 15 one end end face of taking turns foot 6; For preventing thread looseness, before screwing, thread locking agent (outsourcing, model is LOCTITE243) can be smeared on the screw thread of internal locking nut 9.Be positioned over by Compress Spring 10 in the cavity of sleeve 8, now Compress Spring 10 is in free state; Then by taking turns foot 6, importing in the cavity of sleeve 8 in the lump together with outer locking nut 7 and internal locking nut 9, utilize the outside thread of outer locking nut 7, be tightened on sleeve 8, be torqued-up to outer locking nut 7 concordant with the end face of sleeve 8; In like manner, for preventing thread looseness, can before screwing outer locking nut 7 screw thread on smear thread locking agent (outsourcing, model is LOCTITE243); So far, wheel foot 6, outer locking nut 7, sleeve 8, internal locking nut 9 and Compress Spring 10 are assembled into one.Finally, one end turning cylinder 13 being threaded hole through the fixed orifice of sleeve 8, and realizes being connected of turning cylinder 13 and sleeve 8 by connecting key 11 and lock screw 12, thus completes the assembling that whole spring loaded takes turns sufficient crawling device 1.
The present invention has the features such as stability of motion is good, ability of creeping strong, compact conformation, flexibly controlled, adaptive capacity to environment are strong.
Claims (7)
1. a bionical amphibious robot spring loaded takes turns sufficient crawling device, it is characterized in that: comprise wheel foot (6), jam nut, sleeve (8), Compress Spring (10) and turning cylinder (13), wherein one end of turning cylinder (13) is connected with the driver element be arranged in described bionical amphibious robot, rotated by this drive unit drives, one end of described sleeve (8) is connected with the other end of turning cylinder (13), by turning cylinder (13) driven rotary, the other end of described sleeve (8) is connected by jam nut with wheel foot (6), and wheel foot (6) reciprocatingly slides relative to sleeve (8), be equipped with the Compress Spring (10) of cushioning effect in described sleeve (8), the two ends of this Compress Spring (10) are connected to sleeve (8) barrel respectively and described foot (6) of taking turns is inserted in one end in sleeve (8).
2. take turns sufficient crawling device by bionical amphibious robot spring loaded according to claim 1, it is characterized in that: described jam nut comprises outer locking nut (7) and internal locking nut (9), this outer locking nut (7) is threadedly connected to the other end of described sleeve (8), and wheel foot (6) is passed by described outer locking nut (7), insert in sleeve (8); Described internal locking nut (9) is positioned at sleeve (8), and wheel foot (6) inserted in sleeve (8) is threaded with described internal locking nut (9).
3. take turns sufficient crawling device by bionical amphibious robot spring loaded according to claim 2, it is characterized in that: described foot (6) of taking turns comprises pedal plate (14) and sliding bar (15), wherein sliding bar (15) is passed by the internal diameter of described outer locking nut (7), one end that described sliding bar (15) is positioned at sleeve (8) is connected with the internal diameter whorl of described internal locking nut (9), and abut with described Compress Spring (10), described sliding bar (15) is positioned at sleeve (8) other end outward and is provided with and the pedal plate of earth surface (14).
4. take turns sufficient crawling device by bionical amphibious robot spring loaded according to claim 3, it is characterized in that: between the internal diameter of described sliding bar (15) and outer locking nut (7) and between the barrel of the external diameter of internal locking nut (9) and sleeve (8), be free-running fit.
5. take turns sufficient crawling device by bionical amphibious robot spring loaded according to claim 3, it is characterized in that: the lower surface of described outer locking nut (7) and the end face of sleeve (8) other end coplanar, the upper surface of described internal locking nut (9) and one end end face of sliding bar (15) coplanar.
6. take turns sufficient crawling device by bionical amphibious robot spring loaded according to claim 3, it is characterized in that: described outer locking nut (7), sleeve (8), internal locking nut (9), sliding bar (15) and pedal plate (14) are coaxially arranged.
7. take turns sufficient crawling device by the bionical amphibious robot spring loaded described in the arbitrary claim of claim 1 to 6, it is characterized in that: one end of described sleeve (8) has fixed orifice, the other end of turning cylinder (13) is threaded hole, the other end of turning cylinder (13) is passed by described fixed orifice, and is connected with described sleeve (8) by connecting key (11) and lock screw (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310578465.0A CN104648504B (en) | 2013-11-15 | 2013-11-15 | A kind of bionical amphibious robot spring wheel foot crawling device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310578465.0A CN104648504B (en) | 2013-11-15 | 2013-11-15 | A kind of bionical amphibious robot spring wheel foot crawling device |
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| CN104648504A true CN104648504A (en) | 2015-05-27 |
| CN104648504B CN104648504B (en) | 2016-09-28 |
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| CN201310578465.0A Active CN104648504B (en) | 2013-11-15 | 2013-11-15 | A kind of bionical amphibious robot spring wheel foot crawling device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108820064A (en) * | 2018-06-01 | 2018-11-16 | 重庆大学 | Deformation leg-type mobile amphibious robot with fast junction apparatus |
| CN110539814A (en) * | 2018-05-28 | 2019-12-06 | 长春工业大学 | Bionic foot mechanism based on integral tensioning structure |
| CN110605943A (en) * | 2019-10-22 | 2019-12-24 | 哈尔滨工程大学 | Bionic amphibious propeller |
| CN114084245A (en) * | 2021-12-10 | 2022-02-25 | 济南大学 | Elastic vibration-damping foot rod |
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| CN203528627U (en) * | 2013-11-15 | 2014-04-09 | 中国科学院沈阳自动化研究所 | Spring type biped-wheel crawling device of bionic amphibious robot |
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| JP2006160175A (en) * | 2004-12-10 | 2006-06-22 | Toshiba Corp | Creep moving mechanism, creep moving device, and creep moving method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110539814A (en) * | 2018-05-28 | 2019-12-06 | 长春工业大学 | Bionic foot mechanism based on integral tensioning structure |
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| CN110605943A (en) * | 2019-10-22 | 2019-12-24 | 哈尔滨工程大学 | Bionic amphibious propeller |
| CN114084245A (en) * | 2021-12-10 | 2022-02-25 | 济南大学 | Elastic vibration-damping foot rod |
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| CN104648504B (en) | 2016-09-28 |
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