CN107953937B - Improved structure of walking system of walking combined type mobile robot - Google Patents
Improved structure of walking system of walking combined type mobile robot Download PDFInfo
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- CN107953937B CN107953937B CN201711249826.1A CN201711249826A CN107953937B CN 107953937 B CN107953937 B CN 107953937B CN 201711249826 A CN201711249826 A CN 201711249826A CN 107953937 B CN107953937 B CN 107953937B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
Abstract
The invention relates to an improved structure of a walking system of a walking robot, in particular to an improved structure of a walking system of a walking combined type mobile robot, wherein balanced rocker arm suspensions with symmetrical two sides are arranged on an H-shaped chassis, and a working platform is arranged on three fixed points of the balanced rocker arm suspensions; and a driving steering assembly driven by a straight driving motor (54) and a steering driving motor (76) is arranged on the balance rocker suspension on the cross bar of the H-shaped chassis outer axle housing, and four legs of the balance rocker suspension are provided with articulated crawler assemblies capable of adjusting postures. The invention has strong adaptability to complex loop surfaces, flexible posture regulation and stable posture maintaining capability. The device has the adhering and profiling capability of automatically adapting to uneven complex ground, and reduces the disturbance of the vehicle body due to uneven road surface; the load bearing capacity of the movable working platform is increased, and the movable working platform has the capacity of climbing stairs and crossing barriers; the four-wheel drive mode increases the cross-country ability of the vehicle, can realize pivot turning, and has strong maneuverability.
Description
Technical Field
The invention relates to an improved structure of a walking system of a walking robot, in particular to an improved structure of a walking system of a walking combined type mobile robot.
Background
The mobile robot is a development hotspot in the field of robots, and the development is rapid in recent years. The method is widely applied to industries such as industry, agriculture, medical treatment, service and the like, and is also well applied to harmful and dangerous occasions such as the fields of urban safety, counter terrorism, national defense, space detection and the like. The environmental features faced by mobile robots are complex, unknown and variable. At present, the robot mainly comprises three moving mechanisms of a wheel type, a leg type and a crawler type. These three mechanisms are respectively long and short. The wheel type speed is high, but the terrain adaptability is poor; the leg type is flexible and mobile, but the speed is slow and is not easy to control; the crawler-type obstacle crossing capability is strong, but the energy consumption is large and the steering is difficult.
The invention is provided according to the actual requirement when researching a mobile robot with a composite moving mechanism. Particularly, when the road conditions on the ground are uneven, the robot can have better action function and efficiency during turning and speed changing, and can keep a stable running state, so that the overall running quality of the robot is favorably improved. The robot has a balance rocker arm suspension and a walking composite walking device, a walking system adopts a configuration scheme of a balance rocker arm chassis and four joint crawler swing arms, and the four joint crawler swing arms are coordinately controlled to have stronger obstacle crossing capability, and the robot has stronger complex environment posture regulation and control capability and terrain adaptability.
The robot of the prior art has the following three defects, and needs to be improved and improved.
Chinese utility model patent No.: 201520666955.0, name: deformation track suspension and have its robot moving platform. The utility model relates to a suspension structure has six poles to constitute, comprises middle link, deformation track unit, deformation drive assembly etc. and the motion through the connecting rod drives the athey wheel and rotates, adjusts the ground clearance simultaneously. However, the technical structure is complex, and the damping device cannot be used on a chassis of a balance rocker arm structure, and has no good damping effect.
In addition, conventional single power steering mechanisms for tracked vehicles have a number of significant disadvantages: the vehicle only has a plurality of fixed steering radiuses and needs to be realized by the sliding grinding of a friction element when steering according to the non-specified steering radius, the stable and accurate steering radius is difficult to obtain, the severe sliding grinding can cause heating and abrasion, the transmission efficiency is reduced, the steering is unstable and unreliable, and particularly under the steering working condition with higher power, the larger power loss can cause the frequent need of speed reduction steering, and the change is urgently needed.
And uneven road surface can influence the ground connection performance of track assembly, and simultaneously, subaerial barrier also can produce certain impact load to tracked robot moving platform, influences the normal work of moving robot moving platform. The traditional articulated track is in rigid connection and cannot absorb impact load generated by ground obstacles. And when the joint crawler belt in rigid connection meets an uneven road surface, the terrain-imitating capability is poor. When passing through a high bump on the ground, the rigid articulated track may have a suspended state.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an improved mechanism of a walking system of a walking combined type mobile robot, wherein the ground clearance can be actively adjusted by a rocker arm suspension for damping and keeping balance, a steering mechanism for realizing conversion in a friction mode is changed, and the terrain imitation capability of a joint track when the joint track meets an uneven road surface is improved.
The purpose of the invention is realized by the following technical scheme.
An improved structure of walking system of walking combined type mobile robot is characterized in that:
the chassis in the H-shaped transmission mode is provided with balanced rocker arm suspensions which are symmetrical at the left side and the right side, and the working platform is arranged on three fixed points of the balanced rocker arm suspensions; a driving steering assembly driven by a linear driving motor and a steering driving motor is configured on the balance rocker arm suspension on a cross bar of an axle housing of the H-shaped chassis, and four support legs of the balance rocker arm suspension are configured with an attitude adjusting joint crawler assembly capable of adjusting an attitude joint;
the balance rocker arm suspension comprises support balance frames arranged on two sides;
the supporting balance frame is formed by arranging plate-shaped outer rocker arms and inner rocker arms which are parallel to the walking direction at intervals, and a pair of splayed and downward support legs are fixed between the two rocker arms through a support leg rotating shaft in a rotating mode;
an electric push rod is arranged above the two rocker arms in a parallel walking direction, angular bisector supports of an upper pivot and a lower pivot are symmetrically arranged at two ends of the electric push rod respectively, the upper pivot of each angular bisector support is rotatably connected to one end of the electric push rod and the upper end of a cylindrical damping spring, the lower pivot of each angular bisector support is fixedly connected with an angular bisector gear, a pair of angular bisector gears which are arranged in parallel are meshed with each other, and the angular bisector gear shafts are rotatably assembled on the inner rocker arm and the outer rocker arm;
the lower end of the damping spring is rotatably connected to the middle upper part of the supporting leg;
the inner rocker arms extend out of the rod-shaped arms to the rear, the rod-shaped arm end parts of the left inner rocker arm and the right inner rocker arm are respectively hinged with vertical pull rods, the lower ends of the left vertical pull rod and the right vertical pull rod are hinged and connected through a transverse balance arm, and the center position of the balance arm is a hinged fixing point with the working platform;
the center parts of the inner rocker arms of the two supporting balance frames are rotatably connected around the outer axle housing through slewing bearings by two ends of the transverse outer axle housing, and two fixed points of the two working platforms are arranged at two sides of the outer axle housing;
the driving steering assembly:
the steering mechanism shell is provided with a left end output shaft and a right end output shaft: a symmetrical bevel gear differential, a first planet row and a second planet row are sequentially arranged in the steering mechanism shell from left to right, and a left end output shaft, a right end output shaft, two half-axle gears of the symmetrical bevel gear differential and sun wheel shafts of the first planet row and the second planet row are all positioned on the same axis;
the symmetrical bevel gear differential is driven by the engagement of a first conical planet gear and a fourth conical planet gear with a first side gear and a second side gear;
a first gear on a driving motor shaft is meshed with and drives a driven gear of a main speed reducer fixed on a differential case;
the left end output shaft is connected with a first half shaft gear, and the right end output shaft is connected with a second half shaft gear and a second sun gear of a second planet row;
a first sun wheel of the first planet row is fixedly connected with the differential case, and a second planet wheel of the first planet row and a third planet wheel of the second planet row are arranged in parallel through a duplex planet carrier;
the second planet gears of the first planet row are in meshing transmission between the first sun gear and a second gear ring with teeth on the inner ring;
the third planet wheel of the second planet row is meshed and driven between the second sun gear and a first gear ring of which the inner ring is provided with teeth;
the large cylindrical gear of the first planet row is coaxially and fixedly connected with the non-tooth surface of the second gear ring;
a second gear on the output shaft of the steering motor is in meshing transmission with the large cylindrical gear;
and a first gear ring of the outer ring of the second planet row is fixed on the inner wall of the steering mechanism shell.
The posture-adjusting joint track assembly comprises:
a driving hollow shaft with a chain disc at one end is sleeved on the large wheel rotating shaft, the driving hollow shaft drives the large wheel to rotate, and the crawler belt is stirred to run to drive the small wheel to rotate;
a posture adjusting hollow shaft with a chain disc at one end is sleeved between the large wheel rotating shaft and the driving hollow shaft, and the three shafts can rotate mutually in the same axial line;
the inserting end of the posture adjusting hollow shaft is connected with a rod-shaped swing arm through a torque damping mechanism, and the other end of the swing arm is rotatably connected with a small wheel supporting rotating shaft; the length direction of the swing arm is consistent with the connecting line of the large wheel rotating shaft and the small wheel supporting rotating shaft;
the torque damping mechanism is as follows: a torsion damping driving disc is vertically fixed at the insertion end of the attitude adjusting hollow shaft, two torsion damping driven discs are respectively configured and clamped at two sides of the torsion damping driving disc, a plurality of springs are arranged on the torsion damping driving disc along the circumferential direction, spring holes with corresponding sizes are formed in the corresponding positions of the torsion damping driven discs at the two sides, and the springs are embedded into the spring holes, so that the elastic force of the springs on the torsion damping driving disc can be transmitted to the spring holes on the torsion damping driven discs;
the two torsion damping driven discs and the torsion damping driving disc can elastically rotate back and forth around the large wheel rotating shaft;
the torsion damping driven discs on the two sides are connected by bolts perpendicular to the disc surfaces, waist-shaped long holes are formed in the corresponding positions of the torsion damping driving discs, and the bolts connected with the torsion damping driven discs are ensured to be positioned in the waist-shaped long holes and rotate in a reciprocating mode without being hindered;
one end of the swing arm is fixed at the position of a shaft hole of the torsion damping driven disc on the outer side.
Adopt this technical scheme balanced rocker arm suspension:
the working platform comprising a vehicle and a mobile robot can be arranged in a rocker arm type suspension with supporting balancing frames at two sides as main parts, and three points form a stable connecting surface. The rocker arm type suspension can change the height above the ground under the support of a pair of controllable and angle-changeable supporting legs so as to adapt to the road conditions with different heights on the ground at two sides. The pair of mutually meshed angular bisected gears can strictly ensure that the small platform formed by the electric push rod does not always displace all the way around, and can run and walk stably. The shock absorption spring weakens and absorbs the shock in the walking of the supporting leg.
Along with the extension and contraction of the electric push rod, the upper supporting points of the two angle flat branch brackets on the two sides move symmetrically all the time on the two sides of the central vertical line of the electric push rod;
along with the shape change of the ground, the lower ends of the pair of supporting legs rotate symmetrically or asymmetrically on two sides of the central vertical line of the electric push rod.
Adopt this technical scheme drive to turn to the assembly:
in the working process, the double-power flow power differential steering mechanism has two paths of power input, one path of power input is from the linear driving motor, the other path of power input is from the steering driving motor, and the two paths of power input converge at the power differential steering mechanism. The differential steering mechanism increases the rotating speed of the output shaft on one side by the power input of a steering running steering motor, and reduces the rotating speed of the output shaft on the other side, so that the rotating speeds of the output shafts on two ends are different, and the chassis vehicle with the balance rocker arm is steered. The steering direction and the steering speed of the vehicle with the balance rocker arm chassis can be controlled by controlling the directions and the magnitudes of the two paths of power flows. The direction of rotation of the steer-by-run drive steer motor determines the direction of steering (left or right) of the rocker arm chassis vehicle, and the speed of rotation of the steer-by-run drive steer motor determines the jerk or slack of the rocker arm steering. The power transmitted by the differential steering mechanism can be divided into 3 working conditions, namely, the transmission of the linear driving power from the linear driving motor, the transmission of the steering power from the steering driving motor and the combination of the former two power transmissions.
Adopt this technical scheme adjustment gesture joint track assembly:
the technical scheme is that three shafts are arranged on a big wheel: the device comprises a large wheel rotating shaft, a driving hollow shaft and an attitude adjusting hollow shaft, wherein the three shafts can rotate mutually in the same axial line;
the bull wheel rotating shaft plays a role in supporting the bull wheel;
driving the hollow shaft: the driving hollow shaft is driven by the chain to rotate, one end of the driving hollow shaft is provided with a chain disc, the driving hollow shaft drives the large wheel to rotate, the crawler belt is stirred to run, and the small wheel is driven to rotate;
the posture adjustment hollow shaft is the main content of this patent, through above-mentioned structure and content, reciprocal small range rotation realizes the posture adjustment of joint track.
Furthermore, the upper supporting point of the angle bisection support is split into two points at a certain distance, one point is rotatably connected to one end of the electric push rod, the other end of the electric push rod is rotatably connected to the upper end of the cylindrical damping spring, and the certain distance is smaller than or equal to the distance from the upper supporting point to the lower supporting point of the angle bisection support.
Further, the distance from the upper end of the supporting leg to the position where the lower end of the damping spring is rotatably connected to the supporting leg is smaller than the original length of the damping spring.
Furthermore, the torsion damping driving disk and the two torsion damping driven disks are both in a circular shape, and the diameter of the torsion damping driving disk is smaller than that of the torsion damping driven disks;
the periphery of the torsion damping driving disc is uniformly distributed with 4 rectangular notches with outward openings, and cylindrical springs are arranged in the notches; rectangular spring holes corresponding to the cylindrical springs are formed in the corresponding positions of the two torsion damping driven discs, a long side of each rectangle is connected with a baffle which is connected to the outer side and has an included angle smaller than 45 degrees, and when the torsion damping driving discs and the two torsion damping driven discs are connected through bolts, the cylindrical springs are clamped in the rectangular spring holes in the two sides.
Further, the non-tooth surface of the large cylindrical gear and the second gear ring is connected in one of the following modes:
① the outer ring of the second gear ring is in interference fit with the inner ring of the big cylindrical gear;
② forming the second ring gear and the large cylindrical gear into one piece;
③ the joint of the outer ring of the second gear ring and the inner ring of the big cylindrical gear is connected by a set screw.
The invention has the beneficial effects that:
the invention overcomes the three main defects of the walking system of the walking compound type mobile robot in the prior art.
Firstly, the control of the included angle of the front and the rear supporting legs can be realized through the simple control of the electric push rod and the design of the free sliding structure of the electric push rod in the horizontal direction, so that the aim of controlling the gap distance between the bottom of the suspension and the ground is achieved. The electric push rod is actively controlled, so that the electric push rod can be more conveniently adapted to different road conditions. The shock absorber is arranged to attenuate the shock transmitted from the road surface to the suspension during traveling. The invention 'along with the shape change of the ground, the lower ends of the pair of supporting legs rotate symmetrically or asymmetrically on two sides of the central vertical line of the electric push rod', so the structure not only can adapt to the left and right uneven height of the walking box body, but also can adapt to and eliminate the height difference between the front and the back of the same side, thereby leading to stable walking. The structure that the upper supporting points of the two angle-bisecting brackets on the two sides move symmetrically all the time on the two sides of the central vertical line of the electric push rod along with the extension and retraction of the electric push rod ensures that the electric push rod and the pair of angle-bisecting gears move symmetrically all the time no matter how the electric push rod is pushed, the X direction does not deviate, the rocker arms on the two sides and the axle housing do not deviate, the walking box body can be arranged on the stable suspension frame, a robot or a machine device with the walking box body does not deviate during walking, and the walking stability is further improved.
And the steering mechanism integrates the steering system and the transmission system, simplifies the mechanical structure, improves the service performance of the machine, can realize in-situ steering around the center of the steering mechanism, can have different continuous steering radiuses by adjusting the sizes of two paths of power flows, and can adapt to different steering requirements. The average running speed of the vehicle relative to the normal running can be kept unchanged. The torque distribution device has a function of evenly distributing torque. The differential lock has the function of a differential lock, and the wheels on one side with good attachment conditions are fully utilized to improve the passing capacity of the robot or the vehicle.
Finally, the crawler assembly has a grounding angle adjusting function, can cross obstacles (such as climbing stairs), is suitable for complex pavement environments, can realize active adjustment of the grounding angle of the crawler, has better terrain-imitating capacity, improves the ground adhesion of the crawler, has the functions of attenuating torsional vibration, alleviating impact and reducing noise at the front end of the crawler in the running process of the complex ground, and is simple and compact in structure, reasonable in part stress, convenient to adjust the operation posture, good in operation effect and efficiency.
The invention relates to a technical scheme which has significant changes and improvements on the main structure of a walking system of a walking combined type mobile robot or a vehicle of a balance rocker arm, has strong adaptability to complex environment and unstructured road surfaces, and has flexible posture regulation and control and stable posture holding capacity. The device has the adhering and profiling capability of automatically adapting to uneven and complex ground, has good ground adhesion, and reduces the pitching and rolling disturbance of a vehicle body caused by uneven road surface; the combination of the caterpillar track and the balance rocker arm not only increases the loading capacity of the mobile platform, but also enables the mobile platform to have the capacity of climbing stairs and crossing obstacles; the moving platform adopts a four-wheel drive mode to increase the off-road capability of the vehicle, can realize pivot steering and has strong maneuverability.
The improved structure of the related three types of assemblies of the invention is relatively simple, the principle is clear, the application range is wide, and the invention can be applied to a plurality of vehicles or mobile robot platforms adopting balance rocker arm suspensions after slightly changing the structure.
Drawings
FIG. 1 is a three-dimensional perspective view of an embodiment of an improved structure of a walking system of a walking compound type mobile robot according to the present invention;
FIG. 2 is a top view of the work platform assembly of FIG. 1 with the work platform assembly removed;
FIG. 3 is an isometric view of an embodiment of the present invention with components of a balanced rocker suspension assembly;
FIG. 4 is a side elevational view of the equalizer rocker arm suspension of FIG. 3 with the equalizer bracket components supported therein, and showing the direction of movement of the associated components;
FIG. 5 is a schematic and diagrammatic illustration of an embodiment of the present invention in which a steering assembly is driven;
FIG. 6 is an exploded isometric view of the structure of FIG. 5;
FIG. 7 is an exploded isometric view of the bevel gear differential assembly of FIG. 6 and associated parts;
FIG. 8 is an exploded isometric view of the first gear, the second gear and associated parts of FIG. 7;
FIG. 9 is an exploded isometric view of one embodiment of a drive steering assembly incorporating two idler pulleys, in accordance with one embodiment of the present invention;
FIG. 10 is a cross-sectional view of an embodiment of the improved structure of the walking system of the walking compound type mobile robot of the present invention, in which the attitude adjustment joint track assembly is installed along the axes of the large and small wheels;
FIG. 11 is an isometric view of an embodiment of the present invention wherein the attitude articulating track assembly is shown;
figure 12 is an isometric view of the track of figure 11 with the rocker arms and associated components thereof.
In the figure, A is an attitude adjusting joint track assembly, B is a driving steering assembly, and C is a balance rocker arm suspension;
1 is a crawler belt, 2 is a small wheel, 3 is a large wheel interchange hub, 4 is a deep groove ball bearing 1, 5 is a small wheel supporting rotating shaft, 6 is a deep groove ball bearing 2, 7 is a sliding bearing 1, 8 is a bogie wheel 1, 9 is a bogie wheel rotating shaft sleeve, 10 is a torsion spring, 11 is a bogie wheel swing arm, 12 is a bogie wheel 2, 13 is a swing arm, 14 is a large wheel, 15 is a deep groove ball bearing 3, 16 is a round nut, 17 is a large wheel rotating shaft, 18 is a circlip, 19 is a slide bearing 2, 20 is a torsion damping drive disk, 21 is a torsion damping driven disk, 22 is a spring, 23 is a torsion damping driven disk, 24 is a large wheel interchange hub, 25 is a brake disk, 26 is a wheel edge drive sprocket, 27 is a wheel edge support flange, 28 is an attitude adjusting sprocket, 29 is a deep groove ball bearing 4, 30 is a spring washer 1, 31 is a nut 1, 32 is a nut 2, 33 is a spring washer 2, 34 is a socket head cap screw.
35 is a universal joint, 36 is an inner rocker arm, 37 is a shock absorber, 38 is a support leg, 39 is a locking bolt, 40 is a support ear, 41 is an angle-halving bracket, 42 is a support leg rotating shaft, 43 is an electric push rod, 44 is a large nut, 45 is an outer rocker arm, 46 is an angle-halving gear shaft, 47 is an angle-halving gear, 48 is an outer axle housing, 49 is a differential housing, 50 is a rotary support, 51 is a vertical pull rod, and 52 is a balance arm;
53 is a first gear, 54 is a drive motor, 55 is a first idler, 56 is a first planetary gear, 57 is a first axle gear, 58 is a left output shaft, 59 is a planetary gear shaft, 60 is a final drive driven gear, 61 is a fourth planetary gear, 62 is a steering mechanism housing, 63 is a differential housing, 64 is a large cylindrical gear, 65 is a first ring gear, 66 is a second planetary gear, 67 is a third planetary gear, 68 is a first sun gear, 69 is a second sun gear, 70 is a right output shaft, 71 is a double planetary carrier, 72 is a second axle gear, 73 is a second ring gear, 74 is a second idler, 75 is a gear shaft, 76 is a steering motor, 77 is a second gear, 79 is an adjustment swing arm motor, and 81 is a work platform.
Detailed Description
The structure of the suspension of the present invention will be described in further detail below with reference to the accompanying drawings.
An improved structure of a walking system of a walking combined type mobile robot comprises:
a balance rocker arm suspension C with symmetrical left and right sides is arranged on a chassis in an H-shaped transmission mode, and a working platform 81 is arranged on three fixed points of the balance rocker arm suspension C; a driving steering assembly B driven by a linear driving motor 54 and a steering driving motor 76 is arranged on a cross bar of an axle housing of an H-shaped chassis outer axle of the balance rocker arm suspension C, and four legs of the balance rocker arm suspension C are provided with an attitude adjusting joint crawler assembly A capable of adjusting an attitude joint;
the balance rocker arm suspension C comprises support balance frames arranged on two sides;
the supporting balance frame is formed by arranging plate-shaped outer rocker arms 45 and inner rocker arms 36 which are parallel to the walking direction at intervals, and a pair of splayed and downward support legs 38 are fixed between the two rocker arms through a support leg rotating shaft 42 in a rotating mode;
an electric push rod 43 is arranged above the two rocker arms in a parallel walking direction, angle bisecting brackets 41 with upper and lower fulcrums are respectively and symmetrically arranged at two ends of the electric push rod 43, the upper fulcrum of each angle bisecting bracket 41 is rotatably connected to one end of the electric push rod 43 and the upper end of the cylindrical damping spring 37, the lower fulcrum of each angle bisecting bracket is fixedly connected with an angle bisecting gear 47, a pair of angle bisecting gears 47 which are arranged in parallel are mutually meshed, and the angle bisecting gears 46 are rotatably assembled on the inner rocker arm and the outer rocker arm;
the lower end of the damping spring 37 is rotatably connected to the middle upper position of the supporting leg;
the inner rocker arms extend out of rod-shaped arms backwards, the rod-shaped arm ends of the left inner rocker arm 36 and the right inner rocker arm 36 are respectively hinged with vertical pull rods 51, the lower ends of the left vertical pull rod 51 and the right vertical pull rod 51 are hinged and connected through a transverse balance arm 52, and the center position of the balance arm 52 is a hinged fixing point with the working platform 81;
the central parts of the inner rocker arms 36 of the two supporting balance brackets can be rotatably connected around the outer axle housing 48 through two ends of the transverse outer axle housing 48 through slewing bearings 50, and two fixed points of the two working platforms 81 are arranged at two sides of the outer axle housing 48;
the driving steering assembly B:
the steering housing 62 has a left output shaft 58 and a right output shaft 70: a symmetrical bevel gear differential, a first planet row and a second planet row are sequentially arranged in the steering mechanism shell 62 from left to right, and a left end output shaft 58, a right end output shaft 70, two half-shaft gears of the symmetrical bevel gear differential and sun gear shafts of the first planet row and the second planet row are all positioned on the same axis;
the symmetrical bevel gear differential is driven by the engagement of the first planet gear 56 and the fourth planet gear 61 with the first side gear 57 and the second side gear 72;
a first gear 53 on the shaft of the driving motor is meshed with a main reducer driven gear 60 fixed on the differential case in a transmission way;
the left end output shaft 58 is connected with the first side gear 57, and the right end output shaft 70 is connected with the second side gear 72 and the second sun gear 69 of the second planet row;
a first sun gear 68 of the first planet row is fixedly connected with the differential case 63, and a second planet gear 66 of the first planet row and a third planet gear 67 of the second planet row are arranged in parallel through a duplex planet carrier;
the second planet wheels 66 of the first planet row are in meshing transmission between the first sun wheel 68 and a second ring gear 73 with teeth on the inner ring;
the third planet gear 67 of the second planet row is in meshing transmission between the second sun gear 69 and the first ring gear 65 of which the inner ring is provided with teeth;
the large cylindrical gear 64 of the first planet row is coaxially and fixedly connected with the non-tooth surface of the second gear ring 73;
the second gear 77 on the output shaft of the steering motor is in meshing transmission with the large cylindrical gear 64;
the first gear ring 65 of the outer ring of the second planet row is fixed on the inner wall of the steering mechanism shell 62;
the posture-adjusting joint crawler assembly A:
a driving hollow shaft with a chain disc at one end is sleeved on the large wheel rotating shaft 17, the driving hollow shaft drives the large wheel to rotate, and the crawler belt is stirred to run to drive the small wheel to rotate;
a posture adjusting hollow shaft with a chain disc at one end is sleeved between the large wheel rotating shaft 17 and the driving hollow shaft, and the three shafts can rotate mutually in the same axial line;
the inserting end of the posture adjusting hollow shaft is connected with a rod-shaped swing arm 13 through a torque damping mechanism, and the other end of the swing arm 13 is rotatably connected with a small wheel 2; the length direction of the swing arm 13 is consistent with the connecting line of the large wheel 14 and the small wheel 2;
the torque damping mechanism is as follows: a torsion damping driving disc 20 is vertically fixed at the insertion end of the attitude adjustment hollow shaft, two torsion damping driven discs 21 and 23 are respectively configured and clamped at two sides of the torsion damping driving disc, a plurality of springs 22 are arranged on the torsion damping driving disc 20 along the circumferential direction, spring holes a with corresponding sizes are formed in the corresponding positions of the torsion damping driven discs 21 and 23 at the two sides, and the springs 22 are embedded into the spring holes a, so that the elastic force of the springs 22 on the torsion damping driving disc 20 can be transmitted to the spring holes a on the torsion damping driven discs 21 and 23;
the two torsion damping driven discs 21 and 23 and the torsion damping driving disc 20 can elastically rotate back and forth around the large wheel rotating shaft;
the torsion damping driven discs on the two sides are connected by bolts perpendicular to the disc surfaces, waist-shaped long holes are formed in the corresponding positions of the torsion damping driving disc 20, and the bolts connecting the torsion damping driven discs 21 and 23 are positioned in the waist-shaped long holes and can rotate in a reciprocating mode without being hindered;
one end of the swing arm 13 is fixed at the shaft hole positions of the torsion damping driven discs 21 and 23 at the outer side.
The upper supporting point of the angle bisection support 41 is split into two points with a certain distance, one point is rotatably connected to one end of the electric push rod 43, the other end is rotatably connected to the upper end of the cylindrical damping spring 37, and the certain distance is smaller than or equal to the distance from the upper supporting point to the lower supporting point of the angle bisection support 41. Although the action and the function of the invention can be realized by the fact that the upper supporting point of the angular bisect bracket is rotatably connected with one end of the electric push rod and the upper end of the cylindrical damping spring, the positions of the upper supporting point of the angular bisect bracket are relatively crowded when the end of the electric push rod and the upper end of the damping spring are connected, the assembly and the operation are inconvenient, and the mutual rubbing and the collision are prevented, so that the upper supporting point is divided into two points which are separated by a certain distance as in the technical scheme, the assembly can be carried out more leisurely, and the corresponding component size can be calculated and designed according to the stress and the displacement more leisurely and reasonably.
The distance from the upper end of the leg 38 to the position where the lower end of the damper spring 37 is rotatably coupled to the leg 38 is less than the original length of the damper spring 37. If the distance is too long, the force is not good, and even the pushing cannot be carried out, but the distance cannot be too short, so that the interference can be caused.
The torsion damping driving disk 20 and the two torsion damping driven disks 21 and 23 are both in a circular sheet shape, and the diameter of the torsion damping driving disk 20 is smaller than that of the torsion damping driven disks 21 and 23;
the periphery of the torsional vibration damping driving disk 20 is uniformly distributed with 4 rectangular notches with outward openings, and a cylindrical spring 22 is arranged in the rectangular notches; rectangular spring holes corresponding to the cylindrical springs are formed in the corresponding positions of the two torsion damping driven discs 21 and 23, a long side of each rectangle is connected with a baffle plate which is outward and has an included angle smaller than 45 degrees, and when the torsion damping driving disc 20 and the two torsion damping driven discs 21 and 23 are connected through bolts, the cylindrical springs 22 are clamped in the rectangular spring holes a on the two sides.
The structure is compact, the cylindrical spring provides and transmits elastic force well, the manufacturability is good, the processing and the assembly are easy, the use is also reliable, the four rectangular notches are arranged preferably, the structure is not complex, and the elastic force is provided sufficiently.
Of course, it is also possible if the diameter of the driving disk 20 is equal to the diameter of the driven disks 21, 23, and the peripheral edge of the driving disk 20 is uniformly provided with 4 rectangular notches with outward openings, which are deeper, or directly provided with corresponding rectangular holes. The above is selected according to the material and processing conditions.
The non-tooth surfaces of the large cylindrical gear 64 and the second gear ring 73 are connected in one of the following ways:
① the outer ring of the second gear ring 73 and the inner ring of the big cylindrical gear 64 are in interference fit;
② forming the second ring gear 73 and the large cylindrical gear 64 as one piece;
③ the joint between the outer ring of the second ring gear 73 and the inner ring of the large cylindrical gear 64 is connected by a set screw.
The invention has strong adaptability to complex loop surfaces, flexible posture regulation and stable posture maintaining capability. The device has the adhering and profiling capability of automatically adapting to uneven complex ground, and reduces the disturbance of the vehicle body due to uneven road surface; the load bearing capacity of the movable working platform is increased, and the movable working platform has the capacity of climbing stairs and crossing barriers; the four-wheel drive mode increases the cross-country ability of the vehicle, can realize pivot turning, and has strong maneuverability.
Claims (5)
1. An improved structure of walking system of walking combined type mobile robot is characterized in that:
a chassis in an H-shaped transmission mode is provided with balance rocker arm suspensions (C) which are symmetrical at the left side and the right side, and a working platform (81) is arranged on three fixed points of the balance rocker arm suspensions (C); a driving steering assembly (B) driven by a straight driving motor (54) and a steering driving motor (76) is arranged on a cross bar of an axle housing of an H-shaped chassis outer axle of the balance rocker arm suspension (C), and four legs of the balance rocker arm suspension (C) are arranged at positions of four large wheel rotating shafts (17) of an attitude-adjustable joint crawler assembly (A) with adjustable attitude joints;
the balance rocker arm suspension (C) comprises support balance frames arranged on two sides;
the supporting balance frame is formed by arranging plate-shaped outer rocker arms (45) and inner rocker arms (36) which are parallel to the walking direction at intervals, and a pair of splayed and downward support legs (38) are fixed between the two rocker arms through a support leg rotating shaft (42) in a rotating mode;
an electric push rod (43) is arranged above the two rocker arms in a parallel walking direction, two ends of the electric push rod (43) are respectively and symmetrically provided with an angle bisection bracket (41) with an upper fulcrum and a lower fulcrum, the upper fulcrum of the angle bisection bracket (41) is rotatably connected with one end of the electric push rod (43) and the upper end of a cylindrical damping spring (37), the lower fulcrum of the angle bisection bracket is fixedly connected with an angle bisection gear (47), a pair of angle bisection gears (47) which are arranged in parallel are mutually meshed, and the angle bisection gear shaft (46) is rotatably assembled on the inner rocker arm and the outer rocker arm;
the lower end of the damping spring (37) is rotatably connected to the middle upper part of the supporting leg;
the inner rocker arms extend out of the rod-shaped arms backwards, the rod-shaped arm end parts of the left inner rocker arm (36) and the right inner rocker arm (36) are respectively hinged with vertical pull rods (51), the lower ends of the left vertical pull rod (51) and the right vertical pull rod (51) are hinged and connected through a transverse balance arm (52), and the center position of the balance arm (52) is a hinged fixing point with the working platform (81);
the central parts of the inner rocker arms (36) of the two supporting balance frames are rotatably connected around the outer axle housing (48) through two ends of the transverse outer axle housing (48) through slewing bearings (50), and the two sides of the outer axle housing (48) are provided with fixed points of two working platforms (81);
the drive steering assembly (B):
the steering mechanism housing (62) has a left end output shaft (58) and a right end output shaft (70): a symmetrical bevel gear differential, a first planet row and a second planet row are sequentially arranged in a steering mechanism shell (62) from left to right, and a left end output shaft (58), a right end output shaft (70), two half-shaft gears of the symmetrical bevel gear differential and sun gear shafts of the first planet row and the second planet row are all positioned on the same axis;
the symmetrical bevel gear differential is driven by the engagement of a first conical planet wheel (56) and a fourth conical planet wheel (61) with a first side gear (57) and a second side gear (72);
a first gear (53) on the shaft of the driving motor is meshed with a main reducer driven gear (60) fixed on the differential case in a transmission way;
the left end output shaft (58) is connected with the first half shaft gear (57), and the right end output shaft (70) is connected with the second half shaft gear (72) and the second sun gear (69) of the second planet row;
a first sun gear (68) of the first planet row is fixedly connected with a differential case (63), and a second planet gear (66) of the first planet row and a third planet gear (67) of the second planet row are arranged in parallel through a duplex planet carrier;
the second planet wheels (66) of the first planet row are in meshing transmission between the first sun wheel (68) and a second gear ring (73) of which the inner ring is provided with teeth;
a third planet wheel (67) of the second planet row is meshed and driven between a second sun wheel (69) and a first gear ring (65) of which the inner ring is provided with teeth;
the large cylindrical gear (64) of the first planet row is coaxially and fixedly connected with the non-tooth surface of the second gear ring (73);
a second gear (77) on the output shaft of the steering motor is in meshing transmission with the large cylindrical gear (64);
a first gear ring (65) of the outer ring of the second planet row is fixed on the inner wall of the steering mechanism shell (62);
the posture-adjusting joint track assembly (A):
a driving hollow shaft with a chain disc at one end is sleeved on the large wheel rotating shaft (17), the driving hollow shaft drives the large wheel to rotate, and the crawler belt is stirred to run to drive the small wheel to rotate;
a posture adjusting hollow shaft with a chain disc at one end is sleeved between the large wheel rotating shaft (17) and the driving hollow shaft, and the three shafts can rotate mutually in the same axial line;
the inserting end of the posture adjusting hollow shaft is connected with one end of a rod-shaped swing arm (13) through a torque damping mechanism, and the other end of the swing arm (13) is rotatably connected with a small wheel (2); the length direction of the swing arm (13) is consistent with the axis line of the large wheel (14) and the small wheel (2);
the torque damping mechanism is as follows: a torsion damping driving disc (20) is vertically fixed at the insertion end of the attitude adjusting hollow shaft, two torsion damping driven discs (21, 23) are respectively configured and clamped at two sides of the torsion damping driving disc, a plurality of springs (22) are arranged on the torsion damping driving disc (20) along the circumferential direction, spring holes with corresponding sizes are formed in the corresponding positions of the torsion damping driven discs (21, 23) at the two sides, and the springs (22) are embedded into the spring holes, so that the elastic force of the springs (22) on the torsion damping driving disc (20) can be transmitted to the spring holes on the torsion damping driven discs (21, 23);
the two torsion damping driven discs (21, 23) and the torsion damping driving disc (20) can elastically rotate back and forth around the large wheel rotating shaft;
the torsion damping driven discs on the two sides are connected by bolts perpendicular to the disc surfaces, waist-shaped long holes are formed in the corresponding positions of the torsion damping driving disc (20), and the bolts connected with the torsion damping driven discs (21 and 23) are positioned in the waist-shaped long holes and rotate in a reciprocating mode without being hindered;
one end of the swing arm (13) is fixed at the shaft hole position of the torsion damping driven discs (21, 23) at the outer side.
2. The improved structure of walking system of walking compound mobile robot as claimed in claim 1, wherein the upper supporting point of said angular bisector bracket (41) is split into two points separated by a certain distance, one point is rotatably connected to one end of the electric push rod (43), the other point is rotatably connected to the upper end of the cylindrical shock-absorbing spring (37), and said certain distance is less than or equal to the distance from the upper supporting point to the lower supporting point of said angular bisector bracket (41).
3. The improved structure of walking system of walking compound type mobile robot as claimed in claim 1, wherein the distance from the upper end of said supporting leg (38) to the position where the lower end of said shock absorbing spring (37) is rotatably connected to the supporting leg (38) is less than the original length of the shock absorbing spring (37).
4. The improved structure of walking system of walking compound mobile robot as claimed in claim 1, wherein said torsion damping driving disk (20) and two torsion damping driven disks (21, 23) are both in the shape of circular discs, and the diameter of the torsion damping driving disk (20) is smaller than that of the torsion damping driven disks (21, 23);
the periphery of the torsion damping driving disc (20) is uniformly distributed with 4 rectangular notches with outward openings, and a cylindrical spring (22) is arranged in the rectangular notches; rectangular spring holes corresponding to the cylindrical springs are formed in corresponding positions of the two torsion damping driven discs (21 and 23), a long side of each rectangle is connected with a baffle which is outward and has an included angle smaller than 45 degrees, and when the torsion damping driving disc (20) and the two torsion damping driven discs (21 and 23) are connected through bolts, the cylindrical springs (22) are clamped in the rectangular spring holes in the two sides.
5. The improved structure of walking system of walking compound mobile robot as claimed in claim 1, wherein the non-tooth surface of the large cylindrical gear (64) and the second gear ring (73) is connected by one of the following ways:
① the outer ring of the second gear ring (73) and the inner ring of the big cylindrical gear (64) are in interference fit;
② forming the second ring gear (73) and the large cylindrical gear (64) as one piece;
③ the joint between the outer ring of the second ring gear 73 and the inner ring of the large cylindrical gear 64 is connected by a set screw.
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| CN201711249826.1A CN107953937B (en) | 2017-12-01 | 2017-12-01 | Improved structure of walking system of walking combined type mobile robot |
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| CN201711249826.1A CN107953937B (en) | 2017-12-01 | 2017-12-01 | Improved structure of walking system of walking combined type mobile robot |
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| CN107953937B true CN107953937B (en) | 2020-02-11 |
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