CN104648504B - A kind of bionical amphibious robot spring wheel foot crawling device - Google Patents
A kind of bionical amphibious robot spring wheel foot crawling device Download PDFInfo
- Publication number
- CN104648504B CN104648504B CN201310578465.0A CN201310578465A CN104648504B CN 104648504 B CN104648504 B CN 104648504B CN 201310578465 A CN201310578465 A CN 201310578465A CN 104648504 B CN104648504 B CN 104648504B
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- Prior art keywords
- sleeve
- locking nut
- wheel foot
- rotary shaft
- amphibious robot
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- 230000009193 crawling Effects 0.000 title claims abstract description 36
- 230000006835 compression Effects 0.000 claims abstract description 26
- 238000007906 compression Methods 0.000 claims abstract description 26
- 230000000694 effects Effects 0.000 claims abstract description 7
- 230000003044 adaptive effect Effects 0.000 abstract description 4
- 239000003814 drug Substances 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 5
- 239000011664 nicotinic acid Substances 0.000 description 4
- 238000013016 damping Methods 0.000 description 2
- 230000037230 mobility Effects 0.000 description 2
- 238000012946 outsourcing Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000012207 thread-locking agent Substances 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 241000592274 Polypodium vulgare Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 208000002925 dental caries Diseases 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention relates to the crawling device of robot, a kind of bionical amphibious robot spring wheel foot crawling device, including wheel foot, locking nut, sleeve, compression spring and rotary shaft, wherein one end of rotary shaft is connected with the driver element being 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 rotary shaft, is rotated by rotary shaft, the other end of described sleeve is connected by locking nut with wheel foot, and wheel foot reciprocatingly slides relative to sleeve；Described medicament has been equipped with the compression spring of cushioning effect, and the two ends of this compression spring are connected to sleeve wall respectively and described take turns one end of being inserted in sleeve of foot.The present invention has the features such as kinetic stability is good, ability of creeping strong, compact conformation, the most controlled, adaptive capacity to environment is strong.
Description
Technical field
The present invention relates to the crawling device of robot, a kind of bionical amphibious machine
Device people's spring wheel foot crawling device.
Background technology
Along with ocean understanding is goed deep into by the mankind, flood and field linking Very Shallow Water, breaker zone,
Surfzone and beach area become scientific research in recent years, environmental monitoring, investigation and sampling and army
One of key area of the aspect application such as thing field and concern.Amphibious robot is a kind of energy
Enough extraordinary mobile robots realizing special exercise or operation in land and water, it can realize
The amphibious job task that existing underwater robot and land robot cannot realize.According to driving
Motivation structure and the difference of forms of motion, existing amphibious robot substantially can be divided into single driving
Type and the big class of combination flooding ejector half two.The amphibious robot of single drive mode, either polypody,
Fluctuation-type, wheeled, crawler type etc., be all difficult to fully meet robot in water or on land
On speed, obstacle detouring, mobility, the requirement of the aspect such as stability.In order to realize amphibious machine
People moves with the high-performance under the various modes of land respectively in water, improves robot to amphibious
The adaptation ability of complex environment, developing amphibious robot based on novel driving device becomes
One of the important research direction of amphibious robot and development trend in recent years.
Summary of the invention
In order to overcome existing amphibious robot Land Movement ability under amphibious environment more weak, soon
The deficiency that the aspects such as speed, mobility and stability exist, it is an object of the invention to provide one
Plant bionical amphibious robot spring wheel foot crawling device.Should be for bionical amphibious machine
The spring wheel foot crawling device that people provides has that kinetic stability is good, ability of creeping is strong, structure
Feature compact, the most controlled, that adaptive capacity to environment is strong, in conjunction with the bionical fortune of amphibious robot
Dynamic implementation method, can effectively promote the land crawling exercise performance of amphibious robot.
It is an object of the invention to be achieved through the following technical solutions:
The present invention includes taking turns foot, locking nut, sleeve, compression spring and rotary shaft, its transfer
One end of moving axis is connected with the driver element being arranged in described bionical amphibious robot, by
This drive unit drives rotates, and one end of described sleeve is connected with the other end of rotary shaft, by turning
Moving axis is rotated, and the other end of described sleeve is connected by locking nut with wheel foot, and wheel foot
Reciprocatingly slide relative to sleeve；Described medicament has been equipped with the compression spring of cushioning effect, should
The two ends of compression spring be connected to respectively sleeve wall and described take turns foot be inserted in sleeve one
End.
Wherein: described locking nut includes outer locking nut and internal locking nut, this outer locking spiral shell
Box thread is connected to the other end of described sleeve, and wheel foot is passed by described outer locking nut, inserted
In sleeve；Described internal locking nut is positioned at sleeve, inserts the wheel foot in sleeve and described internal lock
Jack panel is threaded；Described foot of taking turns includes pedal plate and sliding bar, and wherein sliding bar is by outside described
The internal diameter of locking nut passes, and described sliding bar is positioned at one end of sleeve and described internal locking spiral shell
Female internal diameter whorl connects, and abuts with described compression spring, and described sliding bar is positioned at outside sleeve
The other end be provided with the pedal plate contacted with ground；The internal diameter of described sliding bar and outer locking nut it
Between and the external diameter of internal locking nut and the barrel of sleeve between be matched in clearance；Described outer locking
The lower surface of nut is coplanar with the end face of the sleeve other end, the upper surface of described internal locking nut with
One end end face of sliding bar is coplanar；Described outer locking nut, sleeve, internal locking nut, slip
Bar and pedal plate are coaxially disposed；One end of described sleeve has fixing hole, the other end band of rotary shaft
Having screwed hole, the other end of rotary shaft is passed by described fixing hole, and by connecting key and locking
Screw is connected with described sleeve.
Advantages of the present invention with good effect is:
1. the spring wheel foot crawling device of the present invention can effectively promote four-footed amphibious robot and climbs
The stability of row motion: the compression spring in spring wheel foot crawling device can be alleviated effectively
Wheel foot and the impact in the contact process of ground, reduce robot center of gravity vertical variable quantity, guarantor
The stability in the large of card robot.
2. the spring wheel foot crawling device of the present invention can be effectively improved creeping of amphibious robot
Ability: require and under equal drive condition at equi-stable, the spring wheel foot of the present invention exists
Crawling process is the variable device of a radius of gyration, embodies more preferable obstacle performance；With
Time compared with the rigid wheel foot that the radius of gyration is fixing, the present invention can be effectively increased the whole plate of wheel and ground
The time of contact in face, increase robot distance of creeping within a period of motion.
3. the spring wheel foot crawling device of the present invention structurally uses the design side of integration
Method, convenient operating maintenance, compact conformation, alleviate the weight of robot carrier, be conducive to imitative
The miniaturization that raw amphibious robot is overall.
4. the spring wheel foot crawling device of the present invention has wheeled and Tui Shi travel mechanism fortune concurrently
The features such as dynamic feature, has controllability good, and adaptive capacity to environment is strong.
Accompanying drawing explanation
Fig. 1 is the spring wheel foot crawling device cloth on bionic amphibious robot of the present invention
Office's structural representation；
Fig. 2 is the front sectional view of the present invention；
Fig. 3 is the left view of the present invention；
Fig. 4 is the perspective view of the present invention；
Fig. 5 is the bionic amphibious robot being mounted with spring of the present invention wheel foot crawling device
Work process schematic diagram；
Wherein: 1 is spring wheel foot crawling device, and 2 is bow, and 3 is trunk, and 4 is stern,
5 is bionic caudal fin, and 6 is wheel foot, and 7 is outer locking nut, and 8 is sleeve, and 9 is internal locking spiral shell
Mother, 10 is compression spring, and 11 is connecting key, and 12 is lock-screw, and 13 is rotary shaft, 14
For pedal plate, 15 is sliding bar.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figs. 2 to 4, the present invention includes wheel foot 6, locking nut, sleeve 8, pressure
Contracting spring 10, connecting key 11, lock-screw 12 and rotary shaft 13, wherein locking screw main bag
Including outer locking nut 7 and internal locking nut 9, wheel foot 6 includes pedal plate 14 and sliding bar 15.
One end of rotary shaft 13 and the driver element phase being arranged in bionical amphibious robot
Even, turning around rotary shaft 13 is produced by this drive unit drives spring wheel foot crawling device 1
Dynamic, one end of sleeve 8 has fixing hole, and the other end of rotary shaft 13 is threaded hole, turns
The other end of moving axis 13 is passed by described fixing hole, and by connecting key 11 and lock-screw
12 are connected with sleeve 8, and sleeve 8 is rotated by rotary shaft 13；Wherein connecting key 11 is used
In realize between sleeve 8 and rotary shaft 13 circumferentially positioned, do not relatively rotate, locking
Screw 12 is for realizing the axial location between sleeve 8 and rotary shaft 13.Another of sleeve 8
End is opening, and the end thread of this opening connects outer locking nut 7, internal locking nut
In 9 internal cavities being contained in sleeve 8, the lower surface of this outer locking nut 7 is another with sleeve 8
The end face of one end is coplanar, and the external diameter of internal locking nut 9 and the sidewall of sleeve 8 internal cavities are for sliding
Dynamic matched in clearance smoothly.
Sliding bar 15 is passed by the internal diameter of outer locking nut 7, inserts in the cavity of sleeve 8,
For matched in clearance smoothly of sliding between the internal diameter of sliding bar 15 and outer locking nut 7.Slide
The internal diameter whorl of one end and internal locking nut 9 that bar 15 is positioned at sleeve 8 cavity is connected, interior
The upper surface of locking nut 9 is coplanar with one end end face of sliding bar 15, and sliding bar 15 is positioned at set
The other end outside cylinder 8 is provided with the pedal plate 14 contacted with ground.Outer locking nut 7, sleeve 8,
Internal locking nut 9, sliding bar 15 and pedal plate 14 are coaxially disposed.
The compression spring 10 of cushioning effect, this compression spring it has been equipped with in the cavity of sleeve 8
The external diameter of 10 is less than the cavity diameter of sleeve 8；One end of compression spring 10 is connected to sleeve 8
The roof of cavity, the other end of compression spring 10 is connected to sliding bar 15 and is inserted in sleeve 8
One end.
The operation principle of the present invention is:
The spring wheel foot crawling device of the present invention has wheeled and Tui Shi travel mechanism motion concurrently
Feature, is described in detail to its operation principle of creeping below in conjunction with Fig. 1 and Fig. 4:
In conjunction with bionics Study analysis result, the spring wheel foot crawling device of the present invention is bionical
Distribution on amphibious robot carrier uses form as shown in Figure 1, simulates land and water amphibian
The feature of Four-feet creeping, robot carrier is equipped with two and creeps (totally four groups) spring wheel foot
Device 1, one pair of which spring wheel foot crawling device 1 is symmetrically arranged on bionical land and water
On the bow 2 of amphibious robot, spring wheel foot crawling device 1 is symmetrically pacified by another
It is contained on the stern 4 of bionical amphibious robot；Bow 2 and stern 4 are by respective time
Turn joint to be connected on trunk 3；In order to realize moving about under water of bionical amphibious robot,
Bionic caudal fin 5 for swinging propelling under water is installed on stern 4.
Four groups of spring wheel foot crawling devices 1 are respectively adopted independent drive unit drives, and its
According to following gait planning when creeping: the spring wheel foot crawling device after left front and right has
Identical phase place A, right front and left back spring wheel foot crawling device has identical phase place B,
Along with the continuous rotation of rotary shaft 13, phase place A, B constantly cut between unsettled phase and support mutually
Change.So-called unsettled phase refers to phase when wheel foot 6 does not contacts in rotary course with ground
Position；Support and refer to that wheel foot 6 contacts with ground in rotary course mutually, and to robot originally
Body forms phase place when supporting.Wherein phase place A and phase place B meet following motion planning condition:
When phase place A is switched to support phase time by unsettled phase, and phase place B the most just switches to hang by supporting mutually
Kongxiang；And when phase place A switches to unsettled phase time mutually by supporting, and phase place B is the most just by unsettled phase
Switch to support phase.
Assembly of the invention is analyzed as a example by the motor process of left front spring wheel foot crawling device
Feature when crawling exercise: under the driving of driver element, rotary shaft 13 produces around its axle
The rotation of line, spring wheel foot crawling device 1 is switched to support phase by unsettled phase, this hour wheel foot
The pedal plate 14 of 6 contacts ground, and along with being rotated further of rotary shaft 13, wheel foot 6 is by ground
Contact friction force, thus promote robot produce advance power；Simultaneously vertical, due to
Being affected by the gravity of robot body, wheel foot 6 is formed compression bullet together with internal locking nut 9
The compression of spring 10, compression spring 10 shortens, and wheel foot 6 embeds sleeve together with internal locking nut 9
The part of 8 cavitys increases so that spring wheel foot crawling device 1 is around the revolution of rotary shaft 13
Radius reduces, thus alleviates amphibious robot carrier center of gravity in vertical change, compression spring
10 effects playing damping；When the axis of wheel foot 6 is perpendicular to the ground, spring wheel foot is climbed
Luggage is put the compression spring 10 of 1 and is in most compressed state.Along with the continuation of rotary shaft 13 turns
Dynamic, the axis of wheel foot 6 is the most vertical with ground, and robot gravity is at wheel foot 6 axis directions
Component progressively reduces, and compression spring 10 starts bounce-back, and wheel foot 6 is embedding together with internal locking nut 9
The part entering sleeve 8 cavity progressively reduces so that spring wheel foot crawling device 1 is around rotary shaft
The radius of gyration of 13 is stepped up, thus again alleviates amphibious robot carrier center of gravity vertical
Change, compression spring 10 plays the effect of damping equally.Along with the continuation of rotary shaft 13 turns
Dynamic, the pedal plate 14 of wheel foot 6 leaves ground, and spring wheel foot crawling device 1 switches to unsettled
Phase, enters the next period of motion.
Spring wheel foot crawling device 1 assemble flow of the present invention is as follows: first, by outer locking
Nut 7 passes from the end, sliding bar 15 one end of wheel foot 6, and is enclosed within the sliding bar of wheel foot 6
On 15；Then internal locking nut 9 is connected with wheel foot 6 by screw thread, is torqued-up to and takes turns foot 6
Sliding bar 15 one end end face concordant；For preventing thread looseness, can be at internal locking before screwing
Thread locking agent (outsourcing, model is LOCTITE243) is smeared on the screw thread of nut 9.Will pressure
Contracting spring 10 is positioned in the cavity of sleeve 8, and now compression spring 10 is in free state；
Then by wheel foot 6, sleeve 8 is imported in the lump together with outer locking nut 7 and internal locking nut 9
In cavity, utilize the external screw thread of outer locking nut 7, be tightened on sleeve 8, be torqued-up to external lock
Jack panel 7 is concordant with the end face of sleeve 8；In like manner, for preventing thread looseness, can be before screwing
(outsourcing, model is to smear thread locking agent on the screw thread of outer locking nut 7
LOCTITE243)；So far, wheel foot 6, outer locking nut 7, sleeve 8, internal locking nut 9
It is assembled into one with compression spring 10.Finally, one end rotary shaft 13 being threaded hole is worn
Cross the fixing hole of sleeve 8, and realize rotary shaft 13 by connecting key 11 and lock-screw 12
With sleeve 8 be connected, thus complete whole spring wheel foot crawling device 1 assembling.
The present invention has that kinetic stability is good, ability of creeping is strong, compact conformation, the most controlled,
The features such as adaptive capacity to environment is strong.
Claims (7)
1. a bionical amphibious robot spring wheel foot crawling device, it is characterised in that:
Including wheel foot (6), locking nut, sleeve (8), compression spring (10) and rotary shaft (13),
Wherein one end of rotary shaft (13) and the driving being arranged in described bionical amphibious robot
Unit is connected, is rotated by this drive unit drives, one end of described sleeve (8) and rotary shaft
(13) the other end is connected, is rotated by rotary shaft (13), described sleeve (8)
The other end is connected by locking nut with wheel foot (6), and wheel foot (6) is relative to sleeve (8)
Reciprocatingly slide；The compression spring (10) of cushioning effect it has been equipped with in described sleeve (8), should
The two ends of compression spring (10) are connected to sleeve (8) barrel respectively and described foot (6) of taking turns is inserted
It is located at the one end in sleeve (8).
2. the sufficient dress of creeping of bionical amphibious robot spring wheel as described in claim 1
Put, it is characterised in that: described locking nut includes 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), wheel foot
(6) passed by described outer locking nut (7), insert in sleeve (8)；Described internal locking
Nut (9) is positioned at sleeve (8), inserts wheel foot (6) in sleeve (8) interior with described
Locking nut (9) is threaded.
3. the sufficient dress of creeping of bionical amphibious robot spring wheel as described in claim 2
Put, it is characterised in that: described foot (6) of taking turns includes pedal plate (14) and sliding bar (15), its
Middle sliding bar (15) is passed by the internal diameter of described outer locking nut (7), described sliding bar (15)
The internal diameter whorl of one end and described internal locking nut (9) of being positioned at sleeve (8) is connected, and
Abutting with described compression spring (10), described sliding bar (15) is positioned at sleeve (8) outward
The other end is provided with the pedal plate (14) contacted with ground.
4. the sufficient dress of creeping of bionical amphibious robot spring wheel as described in claim 3
Put, it is characterised in that: between the internal diameter of described sliding bar (15) and outer locking nut (7)
And it is matched in clearance between the barrel of the external diameter of internal locking nut (9) and sleeve (8).
5. the sufficient dress of creeping of bionical amphibious robot spring wheel as described in claim 3
Put, it is characterised in that: the lower surface of described outer locking nut (7) and sleeve (8) other end
End face coplanar, the upper surface of described internal locking nut (9) and one end of sliding bar (15)
End face is coplanar.
6. the sufficient dress of creeping of bionical amphibious robot spring wheel as described in claim 3
Put, it is characterised in that: described outer locking nut (7), sleeve (8), internal locking nut (9),
Sliding bar (15) and pedal plate (14) are coaxially disposed.
7. the bionical amphibious robot as described in claim 1 to 6 any claim
Spring wheel foot crawling device, it is characterised in that: one end of described sleeve (8) has fixing
Hole, the other end of rotary shaft (13) is threaded hole, and the other end of rotary shaft (13) is by institute
State fixing hole to pass, and by connecting key (11) and lock-screw (12) and described sleeve (8)
It is connected.
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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104648504A CN104648504A (en) | 2015-05-27 |
| CN104648504B true CN104648504B (en) | 2016-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310578465.0A Expired - Fee Related CN104648504B (en) | 2013-11-15 | 2013-11-15 | A kind of bionical amphibious robot spring wheel foot crawling device |
Country Status (1)
| Country | Link |
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| CN (1) | CN104648504B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110539814B (en) * | 2018-05-28 | 2023-05-02 | 长春工业大学 | Bionic foot mechanism based on stretching integral structure |
| CN108820064B (en) * | 2018-06-01 | 2019-10-25 | 重庆大学 | Deformation leg-type mobile amphibious robot with fast junction apparatus |
| 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 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006160175A (en) * | 2004-12-10 | 2006-06-22 | Toshiba Corp | Creep moving mechanism, creep moving device, and creep moving method |
| CN201512016U (en) * | 2009-11-09 | 2010-06-23 | 中国科学院沈阳自动化研究所 | Paddle driving amphibious robot |
| CN102059927B (en) * | 2009-11-09 | 2013-03-13 | 中国科学院沈阳自动化研究所 | Paddle-pedal plate hybrid driving-based amphibious robot |
| CN102050162B (en) * | 2009-11-09 | 2012-11-07 | 中国科学院沈阳自动化研究所 | Amphibious robot with integrally-driven wheel paddle legs |
| EP2653864A1 (en) * | 2012-04-17 | 2013-10-23 | ETH Zurich | Climbing robot for corrosion monitoring and sensor for potential mapping |
| 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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2013
- 2013-11-15 CN CN201310578465.0A patent/CN104648504B/en not_active Expired - Fee Related
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| CN104648504A (en) | 2015-05-27 |
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Granted publication date: 20160928 |