CN107264661B - A kind of adjustable foot shoe formula walking mechanism of gait - Google Patents
A kind of adjustable foot shoe formula walking mechanism of gait Download PDFInfo
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- CN107264661B CN107264661B CN201710298785.9A CN201710298785A CN107264661B CN 107264661 B CN107264661 B CN 107264661B CN 201710298785 A CN201710298785 A CN 201710298785A CN 107264661 B CN107264661 B CN 107264661B
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- gait
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- foot
- speed reducer
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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
Abstract
The invention discloses a kind of adjustable foots of gait to carry out formula walking mechanism, including foot carries out system, driving power system and gait dynamics system；Sufficient shoe system includes that driving wheel, two tensioning wheels, the crawler belt being wound on driving wheel and tensioning wheel and foot carry out retainer, and two tensioning wheels are carried out retainer with foot and are fixedly connected；Driving power system includes that sequentially connected driving servo motor, driving speed reducer and spline shaft, spline shaft are fixedly connected with driving wheel；Gait dynamics system includes sequentially connected gait adjustment servo motor, Synchronous Transmission is secondary and gait speed reducer, the output end of gait speed reducer are carried out retainer with foot and be fixedly connected.The present invention takes into account the advantages of wheeled and crawler type driving method, wheeled and crawler type driving method free switching is realized by gait dynamics system, to improve ground without the full region traffic capacity for changing original text people's platform.
Description
Technical field
The present invention relates to unmanned ground vehicle technical field, specifically a kind of adjustable foot of gait carries out formula walking mechanism.
Background technique
Along with the fast development of modern science and technology, the development level of unmanned ground vehicle is maked rapid progress, no matter in military neck
Domain also commercial market, the advantages such as the mobility that unmanned ground vehicle is all had by it is high, adaptable, personnel risk is low obtain
Application extensively and profoundly.For unmanned ground vehicle, good terrain adaptability is one of its most important performance, especially
Under country when operation, good passage capacity is more indispensable.The driving side of the unmanned ground vehicle of current main-stream
Formula mainly has three ways, such as wheeled, crawler type and wheel-track combined.Wheeled construction is simple, fast in paved road travel speed, machine
Dynamic property is strong, but since wheeled grounding pressure is big, in miriness, skidding is easy to appear under the conditions of the rough topographys such as sand ground and snowfield, is sunk
Phenomena such as falling into, passability is poor, and is difficult to overcome the terrain obstructions such as trench, step, receives in field environment application biggish
Limitation.And crawler type driving method has many advantages, such as that grounding pressure is low, tractive force is big, climbing capacity is strong, has under country
Have higher passability, but that there are mobility is poor, travel speed is slow, road pavement it is destructive it is big, steering behaviour is poor, energy consumption is larger
The deficiencies of.The wheel-track combined driving method of tradition wishes to take into account the high pass of the high maneuverability of in-wheel driving and crawler type driving
The characteristics of property, but since structure is complicated, poor reliability, had been more limited in practical application.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of adjustable foots of gait to carry out formula walking mechanism, takes into account wheeled and crawler belt
The advantages of formula driving method, realizes wheeled and crawler type driving method free switching by gait dynamics system, to improve
The full region traffic capacity of unmanned ground vehicle.
The technical solution of the present invention is as follows:
A kind of adjustable foot shoe formula walking mechanism of gait, including foot carry out system, drive the driving dynamical system of foot shoe system walking
System and adjustment foot carry out the gait dynamics system of system gait；The sufficient shoe system includes driving wheel, two tensioning wheels, is wound in
Crawler belt and foot on driving wheel and tensioning wheel carry out retainer, and two tensioning wheels are located at the two sides of driving wheel, and
The winding shape of crawler belt is diamond shape, and two obtuse angle inflection points of diamond shape are contacted with the top of driving wheel, bottom end respectively, two acute angles of diamond shape
Inflection point is contacted with two tensioning wheels respectively, and two tensioning wheels are carried out retainer with foot and are fixedly connected；The driving
Dynamical system includes sequentially connected driving servo motor, driving speed reducer and spline shaft, the spline shaft with
Driving wheel is fixedly connected；The gait dynamics system include sequentially connected gait adjustment servo motor, Synchronous Transmission it is secondary and
Gait speed reducer, the output end of gait speed reducer are carried out retainer with foot and are fixedly connected.
It is provided with foot on the outside of two circular end face of driving wheel and carries out retainer, two tensioning wheels pass through
Tensioning apparatus is carried out retainer with foot and is fixedly connected.
The gait is adjustable, and foot shoe formula walking mechanism further includes for fixing driving power system and gait dynamics system
Suspension system, the suspension system includes that cantilever shell, cantilevered pivot, rolling bearing, Pivot joint, drive system are fixed
Pinboard, semiaxis and the damper of ring, annular, the driving servo motor, driving speed reducer are fixedly installed on cantilever shell
It is interior, it is fixedly connected with a cantilevered pivot on two opposite lateral walls of cantilever shell outer end, each cantilevered pivot passes through rolling
Dynamic bearing is connect with Pivot joint, and Pivot joint is fixedly connected with vehicle body, and passes through driving on a lateral wall of cantilever shell inner end
System fixed ring is fixedly connected with pinboard, and driving speed reducer reaches part outside cantilever shell and drive system fixed ring is solid
Fixed connection, the inner flange disk of semiaxis are fixedly connected on the inner ring of pinboard, and the inner flange disk of pinboard and semiaxis is fixed
It is connected on the fixation shell of gait speed reducer, the bottom end of the damper is articulated on pinboard, and the top of damper is logical
It crosses connector and is articulated with vehicle body.
It is mounted on the transmission shaft of the driving servo motor, on the transmission shaft of the gait adjustment servo motor
Sheet electromagnetic brake, wherein the sheet electromagnetic brake connecting with driving servo motor is fixedly connected on driving and slows down
On the shell of machine, the sheet electromagnetic brake connecting with gait adjustment servo motor is fixedly connected on pinboard.
The cantilever shell is set to the side that foot carries out system, and driving speed reducer selects right angle reductor.
The driving speed reducer is connected with spline shaft by shaft coupling, and the shaft coupling is located at the hollow of semiaxis
In long hole.
The spline shaft is connect by hub bearing with driving wheel, i.e. the inner ring of spline shaft and hub bearing
It is fixedly connected, driving wheel is fixedly connected with the inner ring flange of hub bearing, the inner ring of the hub bearing and its inner ring flange
It is fixedly connected, the outer flange of the semiaxis is fixedly connected with the outer ring of hub bearing.
The gait adjustment servo motor is located at the top of cantilever shell, and the Synchronous Transmission pair includes active synchronization
Belt wheel, driven synchronous pulley and the synchronous belt being wound in active synchronization belt wheel and driven synchronous pulley, active synchronization belt wheel
It is fixedly connected with the transmission shaft of gait adjustment servo motor, driven synchronous pulley is fixedly connected with the input terminal of gait speed reducer.
The bottom end of the damper is articulated with the middle part of pinboard.
Advantages of the present invention:
(1), crawler belt constitutes the geometry of diamond shape under driving wheel and two sides tensioning wheel collective effect in the present invention；Gait
Dynamical system carries out retainer by foot and drives tensioning wheel, rotates so as to adjust crawler belt and tensioning wheel around driving wheel axle center, thus
Different gaits are obtained, road clearance and the posture of platform are changed, adapt to Various Complex landform, therefore can greatly improve ground
The terrain adaptability of the unmanned platform in face.
(2), sufficient shoe system of the invention can adjust the approach angle of crawler belt on a large scale according to demand, have good obstacle detouring,
Climbing ability.
(3), driving power system of the invention and gait dynamics system independent operating can complete step under different speeds
The adjustment of state further increases unmanned ground vehicle to the adaptability of various complicated landforms.
(4), driving power system of the invention is arranged in cantilever shell, compact-sized, and space utilization rate is high.
(5), gait dynamics system of the invention is had using the deceleration device of Synchronous Transmission pair and gait speed reducer composition
The advantages that reduction ratio is big, mute, shock resistance, high reliablity, light weight.
Detailed description of the invention
Fig. 1 is perspective view of the invention.
Fig. 2 is main view of the invention.
Fig. 3 is the A-A sectional view in Fig. 2.
Fig. 4 is the structural schematic diagram of suspension system of the present invention.
Fig. 5 is the B-B sectional view in Fig. 2 of the present invention.
Fig. 6 is schematic diagram of application structure of present invention under the conditions of paved road.
Fig. 7 is schematic diagram of application structure of present invention under the conditions of soft, muddy road surface.
Fig. 8 be the present invention paddle or earth bulging higher strip part under schematic diagram of application structure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
See that Fig. 1 and Fig. 2, a kind of adjustable foot shoe formula walking mechanism of gait, including foot carry out system, drives foot shoe system walking
Driving power system adjusts the gait dynamics system that foot carries out system gait, and for fixing driving power system and Gait
The suspension system of Force system；
See Fig. 5, sufficient shoe system includes 401, two tensioning wheels 402 of driving wheel, is wound in driving wheel 401 and tensioning wheel 402
On crawler belt 403 and foot carry out retainer 404, two tensioning wheels 402 are located at the two sides of driving wheel 401, and crawler belt 403
Winding shape is diamond shape, and two obtuse angle inflection points of diamond shape are contacted with the top of driving wheel 401, bottom end respectively, and two acute angles of diamond shape turn
It puts and is contacted respectively with two tensioning wheels 402, be provided on the outside of 401 liang of circular end faces of driving wheel and carry out retainer 404 enough, two
Tensioning wheel 402 is carried out retainer 404 with foot by tensioning apparatus 405 and is fixedly connected；
See Fig. 3, driving power system includes sequentially connected driving servo motor 101, right angle reductor 102, shaft coupling
103, spline shaft 104 and hub bearing 105, spline shaft 104 are fixedly connected with the inner ring of hub bearing, driving wheel with
The inner ring flange of hub bearing is fixedly connected, and the inner ring of the hub bearing is fixedly connected with its inner ring flange；Gait dynamics
System includes sequentially connected gait adjustment servo motor 201, Synchronous Transmission pair and gait speed reducer 205, Synchronous Transmission pair packet
It includes active synchronization belt wheel 202, driven synchronous pulley 204 and is wound in active synchronization belt wheel 202 and driven synchronous pulley 204
Synchronous belt 203, active synchronization belt wheel 202 is fixedly connected with the transmission shaft of gait adjustment servo motor 201, driven synchronous pulley
204 are fixedly connected with the input terminal 205b of gait speed reducer 205, and the output end 205c and foot of gait speed reducer 205 carry out retainer
404 are fixedly connected；Wherein, it drives on the transmission shaft of servo motor 101, pacify on the transmission shaft of gait adjustment servo motor 201
Equipped with sheet electromagnetic brake 106,206, the sheet electromagnetic brake 106 connecting with driving servo motor 101 is fixed to be connected
It is connected on the shell of driving speed reducer 102, the sheet electromagnetic brake 206 connecting with gait adjustment servo motor 201 is fixed
It is connected on pinboard 306；
See Fig. 4, suspension system includes cantilever shell 301, cantilevered pivot 302, rolling bearing 303, Pivot joint 304, drives
Pinboard 306, semiaxis 307 and the damper 308 of dynamic system fixed ring 305, annular, cantilever shell 301 are set to sufficient shoe system 4
Side, driving servo motor 101, right angle reductor 102 be fixedly installed in cantilever shell 301,301 outer end phase of cantilever shell
Pair two lateral walls on be fixedly connected to a cantilevered pivot 302, each cantilevered pivot 302 passes through rolling bearing 303
It is connect with Pivot joint 304, Pivot joint 304 is fixedly connected with vehicle body, and passes through drive on a lateral wall of 301 inner end of cantilever shell
Dynamic system fixed ring 305 is fixedly connected with pinboard 306, and right angle reductor 102 reaches part and drive outside cantilever shell 301
Dynamic system fixed ring 305 is fixedly connected, and the inner flange disk of semiaxis 307 is set to the inner ring of pinboard 306,306 He of pinboard
The inner flange disk of semiaxis 307 is fixedly connected on the fixation shell 205a of gait speed reducer 205, the outside method of semiaxis 307
Orchid is fixedly connected with the outer ring of hub bearing 105, and shaft coupling 103 is located in the hollow long hole of semiaxis 307, the bottom of damper 308
End is articulated on the middle part of pinboard 306, and the top of damper 308 is articulated on vehicle body by connector.
The working principle of the invention:
(1), gait adjustment: gait adjustment servo motor 201 starts, and gait adjustment servo motor 201 passes through Synchronous Transmission
Subband Dynamic gait speed reducer 205 moves, and gait speed reducer 205 is carried out retainer 404 with action spot and rotated along 401 axle center of driving wheel, from
And change the gait that foot carries out system；
(2), foot carries out system walking: driving servo motor 101 drives right angle reductor 102 to rotate, and right angle reductor 102 is logical
Crossing shaft coupling 103 drives spline shaft 104 to rotate, and spline shaft 104 drives driving wheel 401 to rotate, to make to be wound in
The rotation band action spot of crawler belt 403 on driving wheel 401 carries out system walking.
See Fig. 6, only driving wheel 401 contacts to earth, this walking mechanism is equivalent to Conventional drum walking mechanism, with contact area of ground
Reduce, grounding pressure increases, so that the frictional resistance with ground is reduced, so as to the fast reserve on paved road；See figure
7, under the conditions of soft, muddy road surface, a line of crawler belt 403 is contacted to earth, i.e. driving wheel 401 and side tensioning wheel 402 and the two
Between crawler belt 403 jointly bear landing load, contact to earth area maximum, grounding pressure reduce, to improve unmanned ground vehicle
Passability；See Fig. 8, under the conditions of paddling or earth bulging is higher, foot carries out the long axis of system perpendicular to ground, only relies on one
Side tensioning wheel 402 transmits landing load, and driving wheel 401 only provides the driving force of crawler belt 403, can be by ground in the case of the present embodiment
The road clearance of the unmanned platform in face maximizes, to greatly improve the terrain adaptability of platform.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of adjustable foot of gait carries out formula walking mechanism, it is characterised in that: carry out system including foot, foot is driven to carry out the drive of system walking
Dynamic dynamical system, adjustment foot carry out the gait dynamics system of system gait and for fixing driving power system and gait dynamics
The suspension system of system；The sufficient shoe system includes driving wheel, two tensioning wheels, the shoe being wound on driving wheel and tensioning wheel
Band and foot carry out retainer, and two tensioning wheels are located at the two sides of driving wheel, and the winding shape of crawler belt is diamond shape,
Two obtuse angle inflection points of diamond shape are contacted with the top of driving wheel, bottom end respectively, two acute angle inflection points of diamond shape respectively with two tensioning wheels
Contact, and two tensioning wheels are carried out retainer with foot and are fixedly connected；The driving power system includes being sequentially connected
Driving servo motor, driving speed reducer and spline shaft, the spline shaft be fixedly connected with driving wheel；Described
Gait dynamics system includes sequentially connected gait adjustment servo motor, Synchronous Transmission pair and gait speed reducer, gait speed reducer
Output end with foot carry out retainer be fixedly connected；The suspension system includes cantilever shell, cantilevered pivot, rolling bearing, pivot
Pinboard, semiaxis and the damper of shaft coupling, drive system fixed ring, annular, the driving servo motor, driving speed reducer
It is fixedly installed in cantilever shell, is fixedly connected with a cantilevered pivot on two opposite lateral walls of cantilever shell outer end, often
A cantilevered pivot passes through rolling bearing and connect with Pivot joint, and Pivot joint is fixedly connected with vehicle body, cantilever shell inner end
It is fixedly connected by drive system fixed ring with pinboard on one lateral wall, driving speed reducer reaches the part outside cantilever shell
It is fixedly connected with drive system fixed ring, the inner flange disk of semiaxis is fixedly connected on the inner ring of pinboard, pinboard and semiaxis
Inner flange disk be fixedly connected on the fixation shell of gait speed reducer, the bottom end of the damper is articulated with pinboard
On, the top of damper is articulated with vehicle body by connector.
2. the adjustable foot of a kind of gait according to claim 1 carries out formula walking mechanism, it is characterised in that: the driving wheel two
It is provided with foot on the outside of circular end face and carries out retainer, two tensioning wheels pass through tensioning apparatus and foot shoe retainer is solid
Fixed connection.
3. the adjustable foot of a kind of gait according to claim 1 carries out formula walking mechanism, it is characterised in that: the driving servo
Sheet electromagnetic brake is mounted on the transmission shaft of motor, on the transmission shaft of the gait adjustment servo motor, wherein
The sheet electromagnetic brake connecting with driving servo motor is fixedly connected on the shell of driving speed reducer, is watched with gait adjustment
The sheet electromagnetic brake for taking motor connection is fixedly connected on pinboard.
4. the adjustable foot of a kind of gait according to claim 1 carries out formula walking mechanism, it is characterised in that: the cantilever shell
It is set to the side that foot carries out system, driving speed reducer selects right angle reductor.
5. the adjustable foot of a kind of gait according to claim 1 carries out formula walking mechanism, it is characterised in that: the driving is slowed down
Machine is connected with spline shaft by shaft coupling, and the shaft coupling is located in the hollow long hole of semiaxis.
6. the adjustable foot of a kind of gait according to claim 1 carries out formula walking mechanism, it is characterised in that: the spline drived
Axis is connect by hub bearing with driving wheel, i.e., spline shaft is fixedly connected with the inner ring of hub bearing, driving wheel and wheel hub
The inner ring flange of bearing is fixedly connected, and the inner ring of the hub bearing is fixedly connected with its inner ring flange, the semiaxis
Outer flange is fixedly connected with the outer ring of hub bearing.
7. the adjustable foot of a kind of gait according to claim 1 carries out formula walking mechanism, it is characterised in that: the gait adjustment
Servo motor is located at the top of cantilever shell, the Synchronous Transmission pair include active synchronization belt wheel, driven synchronous pulley and
The synchronous belt being wound in active synchronization belt wheel and driven synchronous pulley, the biography of active synchronization belt wheel and gait adjustment servo motor
Moving axis is fixedly connected, and driven synchronous pulley is fixedly connected with the input terminal of gait speed reducer.
8. the adjustable foot of a kind of gait according to claim 1 carries out formula walking mechanism, it is characterised in that: the damper
Bottom end is articulated with the middle part of pinboard.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298785.9A CN107264661B (en) | 2017-04-30 | 2017-04-30 | A kind of adjustable foot shoe formula walking mechanism of gait |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298785.9A CN107264661B (en) | 2017-04-30 | 2017-04-30 | A kind of adjustable foot shoe formula walking mechanism of gait |
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| Publication Number | Publication Date |
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| CN107264661A CN107264661A (en) | 2017-10-20 |
| CN107264661B true CN107264661B (en) | 2019-05-28 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111114637B (en) * | 2019-12-24 | 2022-02-08 | 中国科学院合肥物质科学研究院 | Land robot walking mechanism facing global terrain |
| CN111055936A (en) * | 2019-12-24 | 2020-04-24 | 中国科学院合肥物质科学研究院 | Gait-adjustable wheel-track conversion walking mechanism |
| CN112977655B (en) * | 2021-03-31 | 2022-07-05 | 中国科学院合肥物质科学研究院 | Platform action mechanism facing alpine region |
| CN114954712B (en) * | 2022-06-02 | 2023-04-11 | 江苏迈吉易威电动科技有限公司 | Wheel hub motor crawler wheel with gait control function |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85101708B (en) * | 1985-04-01 | 1986-07-16 | 中国科学院长春光学精密机械研究所 | Compound caterpillar step device of the walking machine |
| DE60216963T2 (en) * | 2001-10-03 | 2007-10-18 | Galileo Mobility Instruments Ltd. | ADJUSTABLE DRIVING SYSTEM OF A VEHICLE |
| CN1290678C (en) * | 2003-12-04 | 2006-12-20 | 北京航空航天大学 | Variant structure leg wheeled exploration robot |
| CN102887188B (en) * | 2012-10-17 | 2015-06-03 | 同济大学 | Biped passive walking gait control method based on energetic optimum |
| CN104460672B (en) * | 2014-11-17 | 2017-02-01 | 哈尔滨理工大学 | Bionic hexapod robot control system and control method |
| CN205721372U (en) * | 2016-06-17 | 2016-11-23 | 淮安信息职业技术学院 | A kind of humanoid robot gait's real-time control system |
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