CN105584550A

CN105584550A - Eight-wheel walking robot

Info

Publication number: CN105584550A
Application number: CN201410652936.2A
Authority: CN
Inventors: 郝成武
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-11-18
Filing date: 2014-11-18
Publication date: 2016-05-18

Abstract

The invention provides an eight-wheel walking robot. The eight-wheel walking robot is composed of a bearing force balance mechanism, four connecting rods, supporting arms, swing arms and a wheel assembly, wherein the patent number of the bearing force balance mechanism is 201410205528.2. The eight-wheel walking robot is characterized in that the bearing force balance mechanism with the patent number of 201410205528.2 can balance the bearing force of the four swing arms B10 of the eight-wheel walking robot and can keep a robot body in a horizontal state; the swing arms B10 swing according to signals of force sensors of a wheel B13 and a wheel B14 which are supported through the swing arms and the bearing force of the wheel B13 and the bearing force of the wheel B14 are kept balanced; the wheel B13 and the wheel B14 can be changed into different poses to be suitable for advancing under different road conditions; the robot can climb a mountain, cross a ridge and advance on a quite unsmooth road surface with ditches and pits and can also cross a high bank with the height equal to the sum of the wheel track between the wheel B13 and the wheel B14 on the swing arms B10 and the diameter of one wheel. The eight-wheel walking robot has the beneficial effects of being high in advancing efficiency, stable in operation, high in reliability, capable of crossing any bank, free of obstacles in the advancing road and the like.

Description

A kind of eight take turns walking robot

Technical field: it is installations in mechanical field that one eight is taken turns walking robot.

Background technology: patented technology current era of the present invention does not also occur.

Summary of the invention: can implement the situation walking of various road surfaces.

Brief description of the drawings: the technology of the present invention is by the patent No.: 2014102055282, title: a kind of bearing capacity is flatWeighing apparatus mechanism and four connecting rods, support arm, swing arm and vehicle wheel component form. Fig. 1 is the patent No.: 2014102055282, title: a kind of bearing capacity balanced controls structure chart, Fig. 2 forms the technology of the present invention structure chart, byThe patent No.: 2014102055282, title: a kind of bearing capacity balanced controls A and four connecting rods, support arm, pendulumArm and vehicle wheel component B composition. Four connecting rods, support arm, swing arm and vehicle wheel component B by with the patent No.:2014102055282, title: connecting rod B1 in four connecting rods that a kind of bearing capacity balanced controls A output shaft connects,Connecting rod B3 in four connecting rods that be arranged on bearing B2 on robot body, are connected with bearing B2, with four connectThe support arm B4 that bar B1 is connected with B3, supporting base B5, the screw being connected with support arm B4 screw are fastened onOn supporting base B5 decelerator DC servo-motor B6 is housed, be contained in supporting base B5 by deceleration is housedWorm screw B7, the worm gear B8 engaging with worm screw B7, and worm gear B8 hole that device DC servo-motor B6 drivesAxle B9, swing arm B10 that axle B9 connects by flange that key connects, in swing arm B10 chamber, decelerator to be housed straightStream servomotor B11, the duplicate sprocket B12 being connected with decelerator DC servo-motor B11, pass through pairThe wheel B13 of connection sprocket wheel B12 and chain transmission and B14 form four swing arms eight and take turns walking robot. WhereinEight wheels can be designed to the wheel of different structure form, as wheel B13 is designed to anti-sideslip circular configuration wheelSon, wheel B14 is designed to star angular shape version wheel, swings to adjust to make wheel B14 by swing arm B10Land separately and rotate the irregularity road surfaces such as can crossing stone stone of advancing, eight wheels can be established arbitrarily according to purposesCount other version wheels. All drive by purposes eight wheel B13, B14 and swing arm B10, also can be in the pastFour wheels B13, B14 in four wheels B13, B14 or latter two swing arm B10 in two swing arm B10Drive all right the first two wheel B14 or latter two wheel B13 drive form etc. Eight wheel B13,B14 drives service ability the strongest, and four wheels B13, B14 drive service ability also more intense, two wheelsB13, B14 driving service ability is poor but mechanical efficiency is higher. Taking an unnecessary way or turn round tune can be by being distributed inThe differential of the wheels adjustment of rotational speed in four wheels B13, the B14 of both sides completes. Its operation principle is:Accumulator jar or photovoltaic solar cell electric power can to decelerator DC servo-motor B6 driving swing arm B10 is housedSwing arm, is equipped with decelerator DC servo-motor B11 and drives duplicate sprocket B12 can make wheel B13 by chainEquidirectional rotation realizes eight and takes turns walking and form and eight take turns walking robot with B14. Be characterised in that the patent No.:2014102055282, title: a kind of bearing capacity balanced controls patented technology can make eight to take turns walking robot fourIndividual swing arm B10 bearing capacity balance and can make robot body keep level and terrain clearance, pendulumTwo wheel B13 that arm B10 supports by this swing arm and the force sensor signals of B14 swing and can keep eightWheel B13 and B14 bearing capacity balance, can also make wheel B13 and B14 become different attitudes, adapts to differentRoad conditions are advanced, can climb the mountain, Neng Yueling, can be in the rugged very out-of-flatness road conditions of ditch ditch bank and landslideFace, mud-rock flow have been covered with big and small stone stone road conditions to road surface advances, and can also cross not higher than swing armWheel B13 on B10 and B14 wheelspan add the high bank of a wheel diameter height. Eight take turns walking robot notOnly have the efficiency of advancing high, operate steadily, reliability is high, and the bank not cannot get through is unobstructed on the road of advancingAlso there is the advantages such as easy realization simple in structure etc. feature. Patented technology of the present invention can implement to design lunar rover and fireStar car, lunar rover and Marsokhod during at the moon or in Mars landing landing point landforms road conditions have uncertainProperty, design lunar rover and Marsokhod are optimal selections, can implement if power drive becomes fluid motor-drivenHeavy eight take turns walking robot, can militarily or aspect rescue and relief work apply, as designed guided missileWalking robot is taken turns in delivery and military equipment transport eight, guided missile delivery and military equipment can be transported to enemy notPredictable place, as places such as gully, sand dune ditch and the very bad and the most hidden environment of road conditions, is robbingThe wounded and complete to aspects such as disaster area transport disaster relief supplies is rescued in disaster relief aspect, danger under the most bad road conditions in disaster areaBecome very difficult task, if eight take turns walking robot employing fuel engines drive oil pump by hydraulic motorDriving and enforcement small-sized unmanned aircraft revolve empty oiling, can implement heavy eight and take turns walking robot realization length distanceTransport. It is that eight wheel robot wheels can also draw in and make to occupy that the art of this patent also separately has an exclusive advantageVolume diminishes, and when giving delivery or shifting, offers convenience. The art of this patent using value is unpredictable, applicationExtensively, as designed nuclear power station, nuclear facilities, nuclear tests, oil, chemical industry, mining, exploration etc.Eight of place, ground is taken turns walking robot and is made high-risk operations and can design military and civilian radar, monitor and establishThe meter moon or Mars are maked an inspection tour and are surveyed eight sufficient walking robots etc. Fig. 3 is wheel rounding state figure, Fig. 4Be specific embodiments 1 figure, Fig. 5 is specific embodiments 2 figure, and Fig. 6 is specific embodiments 3 figure,Fig. 7 is specific embodiments 4 figure.

Specific embodiments: Fig. 4 is specific embodiments 1 figure, can implement eight and take turns B13, B14, four swing armsB10 drives, and also can implement front four wheels B13, B14 or rear four wheels B13, B14 driving,Can also implement above two wheel B13, B14 or below two wheel B13, B14 drive etc., can be at ditchThe rugged very out-of-flatness road conditions of ditch bank are advanced, and can climb the mountain, Neng Yueling, operation be very steady, its drivingThe mode difference ability of advancing is different, and mechanical efficiency is different. Fig. 5 is specific embodiments 2 figure,Must implement eight to take turns B13, B14, four swing arm B10 drive, turn round wheel B13 by swing arm B10Built on stilts, wheel B14 land and advance, can be on the face of landslide or mud-rock flow road surface has been covered withBig and small stone stone irregularity road conditions are advanced. Fig. 6 is specific embodiments 3 figure, works as specific embodiment partyDuring case 1 figure describes, having run into high bank will turn round wheel B14 built on stilts wheel by four swing arm B10 againB13 lands and is adjusted to shown position, before two swing arm B10 swing clockwise and two wheel B14 and twoIndividual wheel B13, below two wheel B14 and two wheel B13 drive simultaneously, like this robot body andTwo swing arm B10, wheel B14 and two wheel B13 climb above paramount bank above, when two wheels belowSub-B14 continues while approaching high bank, and two swing arm B10 next are clockwise to be swung and two wheel B14 and two wheelsSub-B13 is urged to robot and climbs above paramount bank. Fig. 7 is specific embodiments 4 figure, and robot adoptsFuel engines drives oil pump to implement heavy eight by fluid motor-driven and takes turns walking robot, if implement small-sizedUnmanned vehicle revolves empty oiling, can realize long-distance transportation.

Claims

1. take turns walking robot by the patent No. for one kind eight: 2014102055282, title: a kind of bearing capacityBalanced controls and four connecting rods, support arm, swing arm and vehicle wheel component form, and Fig. 1 is the patent No.:20141020552822, title: a kind of bearing capacity balanced controls structure chart, Fig. 2 forms skill of the present inventionArt structure chart, by the patent No.: 2014102055282, title: a kind of bearing capacity balanced controls A and four connectsBar, support arm, swing arm and vehicle wheel component B composition, four connecting rods, support arm, swing arm and vehicle wheel component B by with speciallyProfit number: 2014102055282, title: in four connecting rods that a kind of bearing capacity balanced controls A output shaft connectsConnecting rod B1, be arranged on bearing B2 on robot body, connecting rod B3 in four connecting rods that are connected with bearing B2,The support arm B4 being connected with four connecting rod B1 and B3, the supporting base B5 being connected with support arm B4 screw, screw connectBe fixed on supporting base B5 decelerator DC servo-motor B6 is housed, be contained in supporting base B5 by fillingThere are the worm screw B7 of decelerator DC servo-motor B6 driving, worm gear B8 and the snail engaging with worm screw B7The axle B9 that wheel B8 hole key connects, the swing arm B10 that axle B9 connects by flange, in swing arm B10 chamber, be equipped withDecelerator DC servo-motor B11, the duplicate sprocket B12 being connected with decelerator DC servo-motor B11,Walking robot is taken turns in wheel B13 and four swing arms eight of B14 formation by duplicate sprocket B12 and chain transmission,Wherein eight wheels can be designed to the wheel of different structure form, as wheel B13 is designed to the circular knot of anti-sideslipBucket wheel, wheel B14 is designed to star angular shape version wheel, swings to adjust to make wheel by swing arm B10Sub-B14 lands separately and rotates the irregularity road surfaces such as can crossing stone stone of advancing, and eight wheels can according to purposesOther version wheels of design, all drive by purposes eight wheel B13, B14 and swing arm B10, also arbitrarilyFour wheels B13 in four wheels B13, B14 or latter two swing arm B10 in can the first two swing arm B10,B14 drives, all right the first two wheel B14 or latter two wheel B13 drive form etc., eight wheelsB13, B14 drive service ability the strongest, and four wheels B13, B14 drive service ability also more intense, twoWheel B13, B14 driving service ability is poor but mechanical efficiency is higher, and taking an unnecessary way or turn round tune can be by dividingThe differential of the wheels adjustment of rotational speed of cloth in four wheels B13, the B14 of both sides completes, its operation principleBe: accumulator jar or photovoltaic solar cell electric power drive swing arm B10 to decelerator DC servo-motor B6 is housedCan swing arm, decelerator DC servo-motor B11 is housed and drives duplicate sprocket B12 can make wheel by chainThe equidirectional rotation of B13 and B14 realizes eight and takes turns walking and form and eight take turns walking robot, is characterised in that the patent No.:2014102055282, title: a kind of bearing capacity balanced controls patented technology can make eight to take turns walking robot fourIndividual swing arm B10 bearing capacity balance and can make robot body keep level and terrain clearance, pendulumTwo wheel B13 that arm B10 supports by this swing arm and the force sensor signals of B14 swing and can keep eightWheel B13 and B14 bearing capacity balance, can also make wheel B13 and B14 become different attitudes, adapts to differentRoad conditions are advanced, can climb the mountain, Neng Yueling, can be in the rugged very out-of-flatness road conditions of ditch ditch bank and landslideFace, mud-rock flow have been covered with big and small stone stone road conditions to road surface advances, and can also cross not higher than swing armWheel B13 on B10 and B14 wheelspan add the high bank of a wheel diameter height, and eight take turns walking robot notOnly have the efficiency of advancing high, operate steadily, reliability is high, and the bank not cannot get through is unobstructed on the road of advancingAlso have the advantages such as easy realization simple in structure etc. feature, patented technology of the present invention can implement to design lunar rover and fireStar car, lunar rover and Marsokhod during at the moon or in Mars landing landing point landforms road conditions have uncertainProperty, design lunar rover and Marsokhod are optimal selections, can implement if power drive becomes fluid motor-drivenHeavy eight take turns walking robot, can militarily or aspect rescue and relief work apply, as designed guided missileWalking robot is taken turns in delivery and military equipment transport eight, guided missile delivery and military equipment can be transported to enemy notPredictable place, as places such as gully, sand dune ditch and the very bad and the most hidden environment of road conditions, is robbingThe wounded and complete to aspects such as disaster area transport disaster relief supplies is rescued in disaster relief aspect, danger under the most bad road conditions in disaster areaBecome very difficult task, if eight take turns walking robot employing fuel engines drive oil pump by hydraulic motorDriving and enforcement small-sized unmanned aircraft revolve empty oiling, can implement heavy eight and take turns walking robot realization length distanceTransport, it is that eight wheel robot wheels can also draw in and make to occupy that the art of this patent also separately has an exclusive advantageVolume diminishes, and when giving delivery or shifting, offers convenience, and the art of this patent using value is unpredictable, applicationExtensively, as designed nuclear power station, nuclear facilities, nuclear tests, oil, chemical industry, mining, exploration etc.Eight of place, ground is taken turns walking robot and is made high-risk operations and can design military and civilian radar, monitor and establishThe meter moon or Mars are maked an inspection tour and are surveyed eight sufficient walking robots etc., and Fig. 3 is wheel rounding state figure, Fig. 4Be specific embodiments 1 figure, Fig. 5 is specific embodiments 2 figure, and Fig. 6 is specific embodiments 3 figure,Fig. 7 is specific embodiments 4 figure.