CN108032921A - A kind of wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly - Google Patents
A kind of wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly Download PDFInfo
- Publication number
- CN108032921A CN108032921A CN201810074448.6A CN201810074448A CN108032921A CN 108032921 A CN108032921 A CN 108032921A CN 201810074448 A CN201810074448 A CN 201810074448A CN 108032921 A CN108032921 A CN 108032921A
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- China
- Prior art keywords
- wheel
- shift fork
- bearing
- wheel assembly
- protruding shaft
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- 238000005096 rolling process Methods 0.000 claims abstract description 8
- 230000004888 barrier function Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Automatic Cycles, And Cycles In General (AREA)
- Gear-Shifting Mechanisms (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of wheel assembly that can be cleared the jumps, including steering engine support base, steering engine, turntable, a pair of of oscillating bearing and symmetrically arranged two wheels and two groups of wheel driving devices, every group of wheel driving device to include respectively：Motor, connecting flange, engaged clutch driving link, engaged clutch driven member, triangle fork, rolling bearing, bearing holder (housing, cover), U-shaped shift fork, supporting rack, the first shift fork axle, supporting rack bearing, universal joint and the second shift fork axle.The invention also discloses a kind of car-like robots for being provided with the wheel assembly.The car-like robots can realize automatic sensing and cross front obstacle, reduce the influence that road conditions run car-like robots, can be travelled in various complicated road conditions environment.The wheel assembly and car-like robots are simple in structure, reliable.
Description
Technical field
The present invention relates to field in intelligent robotics, more particularly to a kind of wheel assembly that can be cleared the jumps and with should
The car-like robots of wheel assembly.
Background technology
Common wheel is only capable of crossing short barrier, have short, higher protrusion when barrier when, wheel is obstructed,
It can stagnate, lead to not normally travel.Now it is necessary to could be by by external force lifting or traction wheel, it is not only time-consuming but also
Arduously.
The content of the invention
To solve problems of the prior art, it is an object of the present invention to provide one kind can get over the barrier such as too short platform
Hinder the wheel assembly of thing.
It is a further object of the present invention to provide a kind of car-like robots with above-mentioned wheel assembly.
For this reason, technical scheme is as follows：
A kind of wheel assembly that can be cleared the jumps, including steering engine support base, steering engine, turntable, a pair of of oscillating bearing with
And symmetrically arranged two wheels and two groups of wheel driving devices, every group of wheel driving device include respectively：Motor, connection method
Orchid, engaged clutch driving link, engaged clutch driven member, triangle fork, rolling bearing, bearing holder (housing, cover), U-shaped shift fork, support
Frame, the first shift fork axle, supporting rack bearing, universal joint and the second shift fork axle, the motor is installed on the inner side of wheel, for driving
Wheel rotates；The connecting flange is installed on the outside of wheel, and is fixedly connected by multiple screws with wheel, on the outside of connecting flange
It is provided with a flange protruding shaft；The engaged clutch driving link be sleeved in the flange protruding shaft of connecting flange and by screw with
Connecting flange is fixedly connected, and engaged clutch driven member is arranged on the outside of engaged clutch driving link and to be sleeved on flange convex
On axis, and it can slide axially；One first protruding shaft and one second convex is sequentially coaxially provided with the outside of engaged clutch driven member
Axis, the outside diameter of second protruding shaft are less than the outside diameter of the first protruding shaft；The triangle fork is sleeved in first protruding shaft and passes through
Multiple screws are fixedly connected with engaged clutch driven member；The rolling bearing is packed in the second protruding shaft, the bearing holder (housing, cover)
It is sleeved on the outer ring of bearing, threaded hole is provided with bearing holder (housing, cover)；Elongated slot, the U-shaped shift fork are provided with the U-shaped shift fork
It is bolted with bearing holder (housing, cover) and can relatively moves and rotate；The U-shaped shift fork is fixedly connected with one end of the first shift fork axle,
The other end of first shift fork axle is fixedly connected with the universal joint, and the other end of universal joint is fixed with second shift fork axle to be connected
Connect；One end of support frame as described above is fixed on supporting rack bearing, and the other end of supporting rack is provided with a U-shaped opening groove and one vertical
In the threaded hole of U-shaped opening groove, shift fork axle middle is provided with a through hole；The middle part of the shift fork axle passes through the U-shaped opening
Groove, and by screw and the support seat hinge, form revolute pair；The pair of oscillating bearing 4 is opposite to be installed on the turntable
On, turntable is installed on the steering engine；The steering engine is used for the swing for controlling shift fork.
The wheel assembly further includes the sensor for perceiving front obstacle and the perception according to the sensor
The control system that steering engine described in output control acts.
Preferably, the output shaft of the motor has hexagonal cross-section, and the wheel inner side is concentric formed with hexagon
Blind hole, the output shaft are inserted into the concentric blind hole of hexagon and are fixedly mounted with the two by a screw.
Preferably, the elongated slot on the shift fork is double round end grooves.
A kind of car-like robots for being provided with above-mentioned wheel assembly, including bottom plate and be symmetricly set at left and right sides of bottom plate
A pair of first auxiliary wheel, a pair of second auxiliary wheel, steering engine support base, motor and the supporting rack bearing of the wheel assembly are fixedly mounted with
On the bottom plate.
Preferably, first auxiliary wheel, the second auxiliary wheel are identical with the diameter of wheel.
The invention has the advantages that：
The wheel assembly of the present invention can assist its loading device to get over the obstacles such as too short platform, protrusion under the control of steering engine
Thing.The car-like robots of wheel assembly of the present invention are installed under the control of appropriate sensor and control system, can be realized
Automatic sensing and front obstacle is crossed, reduce the influence that road conditions run car-like robots, can be on various complicated roads
Travelled in condition environment.The wheel assembly and car-like robots of the present invention is simple in structure, reliable, good by using signal acquisition
Good sensor may insure the engagement and disengagement of engaged clutch.
Brief description of the drawings
Fig. 1 is the decomposition texture schematic diagram of wheel assembly one embodiment of the present invention；
Fig. 2 is the structure diagram for the car-like robots for being provided with wheel assembly of the present invention.
In figure：
1. 7. screw of steering engine support base 2. steering engine, 3. turntable, 4. oscillating bearing, 5. motor, 6. wheel, 8. connecting flange 8-1:Even
9. engaged clutch driving link of acting flange protruding shaft, 10. engaged clutch driven member
10-1:First protruding shaft 10-2:Second protruding shaft, 11. triangle pitches 12. rolling bearing, 13. bearing holder (housing, cover) 13-1:Threaded hole
14.U type shift forks 14-1:Double 15. supporting rack 15-1 of round end straight slot:16. first shift fork axle 16-1 of U-shaped opening：Through hole
17. 18. 19. second shift fork axle of universal joint of supporting rack bearing, 20. bottom plate
21. 22. first auxiliary wheel of screw, 23. second auxiliary wheel.
Embodiment
The structure of the wheel assembly to the present invention and the car-like robots with the wheel assembly carries out below in conjunction with the accompanying drawings
Describe in detail.
The present invention invents to solve the problems, such as that existing car-like robots can not effectively pass over short, the barrier such as protrusion
One kind turns Novel wheel installation, attaches it on car-like robots, and car-like robots can be helped to go up on the stage and obstacle detouring.
One embodiment of the present of invention shown in Figure 1.A kind of wheel assembly that can be cleared the jumps, including steering engine
Support base 1, steering engine 2, turntable 3, a pair of of oscillating bearing 4 and symmetrically arranged two wheels 6 and two groups of wheel driving devices.Institute
State two groups of wheel driving devices to be symmetrical arranged, every group of wheel driving device includes respectively：Motor 5, connecting flange 8, it is engagement type from
Clutch driving link 9, engaged clutch driven member 10, triangle fork 11, rolling bearing 12, bearing holder (housing, cover) 13, U-shaped shift fork 14, support
Frame 15, the first shift fork axle 16, supporting rack bearing 17, universal joint 18, the second shift fork axle 19.
Since two groups of wheel driving devices are symmetrical arranged, only the structure of one of which wheel driving device is said below
It is bright.
The motor 5 is installed on the inner side of wheel 6, for driving wheel 6 to rotate.Connecting flange 8 is installed on outside wheel 6
Side, and be fixedly connected by multiple screws 7 with wheel 6, the outside of connecting flange 8 is provided with a flange protruding shaft 8-1.It is described engagement type
Clutch driving link 9 is sleeved on the flange protruding shaft 8-1 of connecting flange 8 and is fixedly connected by screw with connecting flange 8, engagement
Formula clutch driven member 10 is arranged on the outside of engaged clutch driving link 9 and is sleeved on flange protruding shaft 8-1, and can be along axis
To slip.The outside of engaged clutch driven member 10 is sequentially coaxially provided with the first protruding shaft 10-1 and the second protruding shaft 10-2, and second
The outside diameter of protruding shaft 10-2 is less than the outside diameter of the first protruding shaft 10-1.The triangle fork 11 is sleeved on the first protruding shaft 10-1 and by more
A screw is fixedly connected with engaged clutch driven member 10.Rolling bearing 12 be sleeved on the second protruding shaft 10-2 and with its interference
Coordinate, the bearing holder (housing, cover) 13 is sleeved on the outer ring of bearing 12, and threaded hole 13-1 is provided with bearing holder (housing, cover).The U-shaped shift fork 14
On be provided with elongated slot, such as double round end straight slot 14-1.Screw is passed through into double round end straight slots and is threaded into the 13-1 of hole, is made U-shaped
Shift fork 14 can be relatively moved and rotated with bearing holder (housing, cover) 13, and U-shaped shift fork 14 and one end of the first shift fork axle 16 are matched somebody with somebody by axis hole interference
The modes such as conjunction are fixedly connected, and the other end of the first shift fork axle 16 is with the universal joint 18 using modes such as axis hole interference fit cooperations
It is fixedly connected.The other end of universal joint 18 is fixedly connected with second shift fork axle 19 also by modes such as axis hole interference fits.
One end of support frame as described above 15 is fixed on supporting rack bearing 17, and the other end of supporting rack 15 is provided with one and U-shaped opens
For mouth groove 15-1 and one perpendicular to the threaded hole of U-shaped opening groove, 16 middle of shift fork axle is provided with a through hole 16-1.Shift fork axle 16
Middle part passes through the U-shaped opening groove 15-1, and hinged by screw and the support base 15, forms revolute pair.
A pair of of oscillating bearing 4 is opposite to be installed on the turntable 3, and turntable 3 is installed on the steering engine 2.The steering engine 2 is used
In the swing of control shift fork 4, i.e. steering engine 2 drives turntable 3 to rotate, oscillating bearing 4 is driven the first shift fork axle 16,18 and of universal joint
Second shift fork axle 19 moves, and then realizes that shift fork drives the movement of engaged clutch driven member 10.
Automatically controlled to realize, institute's wheel assembly, which is stated, further includes sensor for perceiving front obstacle and according to institute
State the control system that the sensing results of sensor control the steering engine 2 to act.
Referring to Fig. 2, a kind of car-like robots for being provided with above-mentioned wheel assembly, including bottom plate 20 and it is symmetricly set on bottom plate
The first auxiliary wheel of a pair 22 of 20 left and right sides, a pair of second auxiliary wheel 23.Steering engine support base 1, the motor 5 of the wheel assembly
(not showing in Fig. 2) and supporting rack bearing 17 are fixedly connected by multiple screws 21 with bottom plate 20.
Preferably, a pair of first auxiliary wheel 22, a pair of second auxiliary wheel 23 are identical with the diameter of wheel 6.
The wheel assembly of the present invention and the operation principle of car-like robots are as follows：
Sensor senses send signal, control system control steering engine drives turntable to after front obstacle to control system
Rotate, shift fork is moved to wheel side, driving link and the driven member engagement of engaged clutch, make triangle fork together with wheel
Rotation, wheel is raised, so as to clear the jumps.After clearing the jumps, servos control shift fork is moved to away from wheel side, is nibbled
The driving link and driven member of type clutch separate, and front-wheel is not raised, normal operation.
In the present invention, the endoporus of connecting flange 8, engaged clutch driving link 9 and engaged clutch driven member 10 should
With certain fit precision, to ensure that mechanism can go slick.
Claims (6)
- A kind of 1. wheel assembly that can be cleared the jumps, it is characterised in that：Including steering engine support base (1), steering engine (2), turntable (3), a pair of of oscillating bearing (4) and symmetrically arranged two wheels (6) and two groups of wheel driving devices,Every group of wheel driving device includes respectively：It is motor (5), connecting flange (8), engaged clutch driving link (9), engagement type Clutch driven member (10), triangle fork (11), rolling bearing (12), bearing holder (housing, cover) (13), U-shaped shift fork (14), supporting rack (15), the One shift fork axle (16), supporting rack bearing (17), universal joint (18) and the second shift fork axle (19),The motor (5) is installed on the inner side of wheel (6), for driving wheel (6) to rotate；The connecting flange (8) is installed on the outside of wheel (6), and is fixedly connected by multiple screws (7) with wheel (6), is connected A flange protruding shaft (8-1) is provided with the outside of flange (8)；The engaged clutch driving link (9) is sleeved in the flange protruding shaft (8-1) of connecting flange (8) and by screw and company Acting flange (8) is fixedly connected, and engaged clutch driven member (10) is arranged on the outside of engaged clutch driving link (9) and is set with In flange protruding shaft (8-1), and it can slide axially；One first protruding shaft (10-1) and one second protruding shaft (10- are sequentially coaxially provided with the outside of engaged clutch driven member (10) 2), the outside diameter of second protruding shaft (10-2) is less than the outside diameter of the first protruding shaft (10-1)；The triangle fork (11) is sleeved on first protruding shaft (10-1) and driven by multiple screws and engaged clutch Part (10) is fixedly connected；The rolling bearing (12) is packed in the second protruding shaft (10-2), and the bearing holder (housing, cover) (13) is sleeved on the outer ring of bearing (12) On, threaded hole (13-1) is provided with bearing holder (housing, cover) (13)；Elongated slot, the U-shaped shift fork are provided with the U-shaped shift fork (14) (14) it is bolted with bearing holder (housing, cover) (13) and can relatively moves and rotate；The U-shaped shift fork (14) is fixedly connected with one end of the first shift fork axle (16), the other end of the first shift fork axle (16) and institute State universal joint (18) to be fixedly connected, the other end of universal joint (18) is fixedly connected with second shift fork axle (19)；One end of support frame as described above (15) is fixed on supporting rack bearing (17), and it is U-shaped that the other end of supporting rack (15) is provided with one Open slot (15-1) and one perpendicular to U-shaped opening groove threaded hole, shift fork axle (16) middle is provided with a through hole (16-1)；Institute The middle part for stating shift fork axle (16) passes through the U-shaped opening groove (15-1), and hinged by screw and the support base (15), is formed Revolute pair；(4 is opposite on the turntable (3), and turntable (3) is installed on the steering engine (2) for the pair of oscillating bearing；It is described Steering engine (2) is used for the swing for controlling shift fork (4).
- 2. wheel assembly according to claim 1, it is characterised in that：Further include the sensor for perceiving front obstacle And the control system of steering engine (2) action is controlled according to the sensing results of the sensor.
- 3. wheel assembly according to claim 2, it is characterised in that：The output shaft of the motor (5) is cut with hexagon Face, wheel (6) inner side are inserted into the concentric blind hole of hexagon and are led to formed with the concentric blind hole of hexagon, the output shaft Crossing a screw is fixedly mounted with the two.
- 4. wheel assembly according to claim 3, it is characterised in that：Elongated slot on the shift fork (14) is double round end grooves.
- A kind of 5. car-like robots for being provided with wheel assembly any one of claim 1-4, it is characterised in that：The bottom of including Plate (20 and be symmetricly set at left and right sides of bottom plate (20) first auxiliary wheel of a pair (22), a pair the second auxiliary wheel (23), it is described Wheel assembly steering engine support base (1, motor (5 and supporting rack bearing (17 are packed in the bottom plate (on 20.
- 6. car-like robots according to claim 3, it is characterised in that：First auxiliary wheel (22), the second auxiliary wheel (23) it is identical with the diameter of wheel (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810074448.6A CN108032921B (en) | 2018-01-25 | 2018-01-25 | Wheel device capable of crossing obstacle and vehicle type robot with wheel device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810074448.6A CN108032921B (en) | 2018-01-25 | 2018-01-25 | Wheel device capable of crossing obstacle and vehicle type robot with wheel device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108032921A true CN108032921A (en) | 2018-05-15 |
| CN108032921B CN108032921B (en) | 2024-03-15 |
Family
ID=62097396
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810074448.6A Active CN108032921B (en) | 2018-01-25 | 2018-01-25 | Wheel device capable of crossing obstacle and vehicle type robot with wheel device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108032921B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011102528A1 (en) * | 2010-02-22 | 2011-08-25 | 学校法人日本大学 | Mobile robot |
| US20120273284A1 (en) * | 2011-04-28 | 2012-11-01 | Nesnas Issa A D | Robotic two-wheeled vehicle |
| CN103407511A (en) * | 2013-07-08 | 2013-11-27 | 北京林业大学 | Small-sized wheel leg combined type movable obstacle-crossing mechanism in forest |
| CN103802621A (en) * | 2014-02-20 | 2014-05-21 | 青岛海艺自动化技术有限公司 | Composite configuration amphibious robot based on epicyclic gear trains and provided with wheel paddle legs |
| CN103863433A (en) * | 2014-02-19 | 2014-06-18 | 上海工程技术大学 | Automatic switch type wheel claw structure of mobile robot |
| CN205220850U (en) * | 2015-12-17 | 2016-05-11 | 长安大学 | Multi -functional robot that hinders more |
| CN107161232A (en) * | 2017-06-07 | 2017-09-15 | 宋天钰 | It is a kind of that there is the mobile barrier-surpassing robot for taking turns leg converting means |
| CN208036468U (en) * | 2018-01-25 | 2018-11-02 | 天津职业技术师范大学 | The wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly |
-
2018
- 2018-01-25 CN CN201810074448.6A patent/CN108032921B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011102528A1 (en) * | 2010-02-22 | 2011-08-25 | 学校法人日本大学 | Mobile robot |
| US20120273284A1 (en) * | 2011-04-28 | 2012-11-01 | Nesnas Issa A D | Robotic two-wheeled vehicle |
| CN103407511A (en) * | 2013-07-08 | 2013-11-27 | 北京林业大学 | Small-sized wheel leg combined type movable obstacle-crossing mechanism in forest |
| CN103863433A (en) * | 2014-02-19 | 2014-06-18 | 上海工程技术大学 | Automatic switch type wheel claw structure of mobile robot |
| CN103802621A (en) * | 2014-02-20 | 2014-05-21 | 青岛海艺自动化技术有限公司 | Composite configuration amphibious robot based on epicyclic gear trains and provided with wheel paddle legs |
| CN205220850U (en) * | 2015-12-17 | 2016-05-11 | 长安大学 | Multi -functional robot that hinders more |
| CN107161232A (en) * | 2017-06-07 | 2017-09-15 | 宋天钰 | It is a kind of that there is the mobile barrier-surpassing robot for taking turns leg converting means |
| CN208036468U (en) * | 2018-01-25 | 2018-11-02 | 天津职业技术师范大学 | The wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly |
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| Publication number | Publication date |
|---|---|
| CN108032921B (en) | 2024-03-15 |
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Effective date of registration: 20240410 Address after: 062250, 50 meters northwest of the intersection of Donggu Road and 307 National Road in Daguozhuang Village, Guozhuang Town, Xian County, Cangzhou City, Hebei Province Patentee after: Hebei Jianyi Instrument Equipment Co.,Ltd. Country or region after: China Address before: No. 1310 Dagu South Road, Jinnan District, Tianjin Patentee before: TIANJIN University OF TECHNOLOGY AND EDUCATION Country or region before: China |