CN108237841B - Obstacle-crossing shock-absorbing wheel - Google Patents
Obstacle-crossing shock-absorbing wheel Download PDFInfo
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- CN108237841B CN108237841B CN201711484048.4A CN201711484048A CN108237841B CN 108237841 B CN108237841 B CN 108237841B CN 201711484048 A CN201711484048 A CN 201711484048A CN 108237841 B CN108237841 B CN 108237841B
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- wheel
- center frame
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- flange
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B15/00—Wheels or wheel attachments designed for increasing traction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B9/00—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces
- B60B9/02—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces using springs resiliently mounted bicycle rims
- B60B9/06—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces using springs resiliently mounted bicycle rims in helical form
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Tires In General (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an obstacle-crossing shock-absorbing wheel, which relates to the technical field of robots and comprises a fixed center frame, wherein the fixed center frame is provided with a plurality of spokes which radially extend outwards and are distributed in a circumferential manner, a small walking wheel is arranged at the tail end of each spoke, a movable circular-arc-shaped wheel plate is arranged between every two adjacent spokes, each movable wheel plate is connected with the fixed center frame through an elastic guide mechanism, the fixed center frame is provided with a locking mechanism, and the locking mechanism controls the stroke of each movable wheel plate moving towards the axis direction of the fixed center frame. The invention can make the wheel have a stable road running state or an obstacle avoidance and shock absorption running state through the change of the moving stroke of the movable wheel plate, and the wheel has strong terrain adaptability.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an obstacle-crossing shock-absorbing wheel.
Background
With the continuous development of the robot technology, when the robot faces a severe environment and a complex terrain, the robot enhances the terrain adaptation and the autonomous movement capability by utilizing different movement modes of the mobile robot, which is a robot technology which is developed faster in recent years. Compared with the movement of common wheel type, crawler type or common foot type movement, the variable form obstacle crossing shock absorption wheel not only can stably run on a flat road surface, but also can adapt to the terrain shock absorption on uneven ground through deformation, and can cross the obstacle slightly larger than the radius of the wheel.
After the mobile robot under the complex environment at home and abroad is analyzed, the motion mechanism of the current robot mainly adopts the forms of a wheel type mechanism, a crawler type mechanism, a leg type mechanism, a composite mechanism of the wheel type mechanism, the crawler type mechanism and the leg type mechanism. The wheel type mechanism has high moving speed and simple control, but has extremely poor performance in obstacle crossing. The crawler-type mechanism has strong environment adaptability, and particularly after the swing arm is added, the energy consumption is high. For the leg type mechanism, the foot end of the robot is in point contact with the ground, so that the requirement on the environment is low, the obstacle crossing capability is strong, but the movement speed is low, and the structure and the control are complex. The composite structure, such as a track leg type, a wheel track type, a wheel leg type and even a wheel track leg type, usually combines the advantages of all aspects of the composite structure to give play to the best performance advantages of the composite structure, the composite structure is more and more widely applied, but the control of the composite structure has certain complexity.
The invention discloses an obstacle crossing wheel with a wheel claw switching function, which can automatically switch wheel type and claw type motions to realize adaptation to different ground surfaces.
The invention patent CN201110110300.1 discloses a support rod type obstacle crossing wheel which switches between wheel type and rod type motion modes through the axial movement of a mechanism.
The invention patent CN201520463075.3 discloses an obstacle crossing wheel, which realizes the obstacle crossing function by extending six rods outwards from the wheel.
Considering the functional requirements of a mobile robot system operating in a complex environment, the mobile robot system can have a certain damping function while crossing obstacles, needs to design a novel wheel which can help the mobile robot to efficiently and stably run in different terrains, and has obstacle crossing damping capacity and two motion modes of a wheel type and a deformation mode.
Disclosure of Invention
The invention aims to provide an obstacle-crossing shock-absorbing wheel which not only has the capability of smooth running on a flat road surface, but also has the capability of crossing larger obstacles, and simultaneously has the function of passive shock absorption on an unstable road surface.
The technical scheme adopted for solving the technical problems is as follows:
the utility model provides a shock attenuation wheel hinders more, includes fixed center frame, and this fixed center frame has many radial spokes that outwards stretch out and be the circumference and distribute, each the walking steamboat has been arranged to the spoke end, adjacent two arrange between the spoke and be convex movable wheel board, every movable wheel board all connects through elastic guide mechanism fixed center frame, fixed center frame is arranged with the mechanism of locking, each movable wheel board court of mechanism control of locking the stroke that fixed center frame axis direction removed.
As a further improvement of the above technical solution, each of the elastic guide mechanisms includes an elastic member, a bearing seat disposed on the fixed center frame, a plurality of linear bearings disposed in the bearing seat and parallel to each other, and a plurality of parallel shafts movable along the corresponding linear bearings, wherein one end of each of the parallel shafts is connected to an inner wall of the movable wheel plate, one end of the elastic member is connected to an inner wall of the movable wheel plate, and the other end of the elastic member is connected to the fixed center frame.
As a further improvement of the above technical solution, the locking mechanism includes a wheel disc, the wheel disc has a plurality of connecting rods extending radially outward and distributed circumferentially, the number of the connecting rods is the same as the number of the parallel shafts, the end of each connecting rod is connected with a cylindrical pin, and the wheel disc enables each cylindrical pin to press or be away from the corresponding end face of the parallel shaft through a driving mechanism.
As a further improvement of the technical scheme, the driving mechanism comprises a steering engine arranged on the fixed center frame, and the wheel disc is connected to an output shaft of the steering engine.
As a further improvement of the above technical solution, the elastic member is a compression spring or a rubber elastic sleeve.
As a further improvement of the above technical solution, the fixed center frame is connected to a flange bracket, the flange bracket has a plurality of legs connected to the spokes, the outer end face of the flange bracket is connected to a flange plate, and the flange is connected to a power input shaft coaxial with the fixed center frame.
As a further improvement of the technical scheme, the outer circumferential surface of each small walking wheel is provided with anti-skid rubber. Furthermore, the outer wall of each movable wheel plate is provided with anti-skid rubber.
As a further improvement of the technical scheme, a first flange and a second flange are arranged at two ends of each movable wheel plate, and the first flange of each movable wheel plate and the second flange of the adjacent movable wheel plate are respectively distributed at two sides of the corresponding small walking wheel.
The invention has the beneficial effects that: the invention designs a plurality of movable wheel plates, and controls the travel of each movable wheel plate moving towards the axis direction of the fixed central frame through the locking mechanism, so that the wheels are in an obstacle avoidance and shock absorption running state or a stable road running state. When the mobile robot provided with the wheels works on a platform road surface, the wheels are in a stable road surface running state, the locking mechanism is locked, the movable wheel plate cannot move towards the axis direction of the fixed center frame, and the wheels are in a complete circle or approximately in a circle and can run stably and quickly on the flat road surface; when the vehicle encounters an obstacle and an uneven road surface, the wheel is in an obstacle avoidance and shock absorption running state, the locking mechanism is loosened, the movable wheel plate can move towards the axial direction of the fixed center frame, so that the small walking wheel at the tail end of the spoke of the fixed center frame serves as a motion fulcrum, the wheel is changed into a self-adaptive deformation wheel, the large obstacle can be overturned by taking the small walking wheel as the fulcrum, and the movable wheel plate connected with the elastic guide mechanism can play a shock absorption role in the motion process.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective view of the present invention in a smooth road running condition;
FIG. 3 is a front view of the present invention in a smooth road running condition;
FIG. 4 is a perspective view of the present invention in an obstacle avoidance and shock absorption mode of operation;
fig. 5 is a front view of the present invention in an obstacle avoidance and shock absorption operation state.
Detailed Description
The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention. In addition, all the coupling/connection relationships mentioned herein do not mean that the components are directly connected, but mean that a better coupling structure can be formed by adding or reducing coupling accessories according to specific implementation conditions.
Referring to fig. 1 to 5, the obstacle-crossing shock-absorbing wheel comprises a fixed center frame 1, wherein the fixed center frame 1 is provided with three spokes which radially extend outwards and are distributed circumferentially, a small walking wheel 7 is arranged at the tail end of each spoke, a movable wheel plate 2 in a circular arc shape is arranged between every two adjacent spokes, and each movable wheel plate 2 is connected with the fixed center frame 1 through an elastic guide mechanism.
Each elastic guide mechanism comprises an elastic piece, a bearing seat 5 arranged on the fixed center frame 1, two linear bearings 10 which are arranged in the bearing seat 5 and are parallel to each other, and two parallel shafts 4 which can move along the corresponding linear bearings 10, wherein one end of each parallel shaft 4 is connected with the inner wall of the movable wheel plate 2. The elastic member is preferably a compression spring 3 in the present embodiment, but it is also possible to select a rubber elastic sleeve, wherein one end of the compression spring 3 is connected to the inner wall of the movable wheel plate 2, the other end of the compression spring 3 is connected to the fixed center frame 1, and the bearing seat 5 is provided with a through groove of the compression spring 3. Of course, the compression springs 3 may be sleeved on the parallel shafts 4, but the number of the compression springs 3 is designed to be equal to the number of the parallel shafts 4, one end of each compression spring 3 is connected to the inner wall of the movable wheel plate 2, and the other end of each compression spring 3 abuts against the outer end face of the bearing seat 5.
In addition, the fixed center frame 1 is provided with a locking mechanism, and the locking mechanism controls the stroke of each movable wheel plate 2 moving towards the axis direction of the fixed center frame 1, so that the wheels are in an obstacle avoidance and shock absorption running state or a stable road running state. The locking mechanism comprises a wheel disc 8, the wheel disc 8 is provided with six connecting rods which radially extend outwards and are distributed circumferentially, the tail end of each connecting rod is connected with a cylindrical pin 6, and the wheel disc 8 enables each cylindrical pin 6 to be pressed and contacted or far away from the end face of the corresponding parallel shaft 4 through a driving mechanism. The driving mechanism comprises a steering engine 11 arranged on the fixed center frame 1, the wheel disc 8 is connected to an output shaft of the steering engine 11, and a power supply and a control line of the steering engine 11 are communicated with each other through three paths of conductive sliding rings so as to control the locking mechanism 8 when the wheels rotate. The steering engine 1 controls the rotation angle of the wheel disc 8, so that the cylindrical pins 6 at the tail ends of the connecting rods are pressed against or far away from the end faces of the corresponding parallel shafts 4, and the stroke of the movable wheel plate 2 moving towards the axial direction of the fixed center frame 1 is controlled.
The fixed center frame 1 is further connected with a flange support 9, the flange support 9 is provided with three support legs connected to spokes, each support leg is correspondingly connected to the corresponding spoke, the end face of the outer side of the flange support 9 is connected with a flange 12, and the flange 12 is connected with a power input shaft 13 coaxial with the fixed center frame 1.
Further as a preferred embodiment, a first flange 21 and a second flange 22 are arranged at two ends of each movable wheel plate 2, and the first flange 21 of the movable wheel plate 2 and the second flange 22 of the adjacent movable wheel plate 2 are respectively positioned at two sides of the corresponding small walking wheel 7, so that the walking of the wheels is more stable.
Further as a preferred embodiment, the outer circumferential surface of each small walking wheel 7 is provided with anti-slip rubber. Furthermore, the outer wall of each movable wheel plate 2 is provided with anti-skid rubber.
Referring to fig. 2 and 3, in an initial state, the outer circumferential surface of each cylindrical pin 6 is pressed against the end surface of the corresponding parallel shaft 4 so as to limit the movement of the parallel shaft 4, namely, the movable wheel plate 2 is limited to move towards the axial direction of the fixed center frame, at the moment, the compression spring 3 is in a free state, the wheel is in a stable road running state, each movable wheel plate 2 and each walking small wheel 7 are tangent to the same circumcircle, and the wheel is in a complete circle. Of course, because of manufacturing error or the compression spring 3 is in a fatigue state, or the distance between each movable wheel plate 2 and each walking small wheel 7 and the same circumscribed circle is smaller than the maximum compression stroke of the compression spring 3, the wheel is approximately circular, and the invention also belongs to the protection scope of the invention. When the mobile robot provided with the wheels works on a platform road surface, the wheels are in a stable road surface running state, the locking mechanism is locked, the movable wheel plate 2 cannot move towards the axis of the fixed center frame, and the wheels can run stably and quickly on the flat road surface.
Referring to fig. 4 and 5, the wheel is in an obstacle avoidance and shock absorption running state, and part of the movable wheel plate 2 moves towards the axial direction of the fixed center frame 1. The principle is that when the wheel encounters an obstacle or an uneven road surface, the wheel is in an obstacle avoidance and shock absorption running state, the locking mechanism is loosened, namely the wheel disc 8 rotates until the outer circumferential surface of each cylindrical pin 6 is not in pressure contact with the end surface of the parallel shaft 4, the parallel shaft 4 can move along the linear bearing 10 on the bearing seat 5, and the movable wheel plate 2 can move towards the axis of the fixed center frame 1. At this time, the small walking wheel at the tail end of the spoke of the fixed center frame 1 serves as a movement fulcrum, the wheel is changed into a self-adaptive deformation wheel, a large obstacle can be crossed by taking the small walking wheel as the fulcrum, the movable wheel plate 2 connected with the elastic guide mechanism can play a role in damping in the movement process, the movable wheel plate 2 playing a role in damping moves towards the axis of the fixed center frame 1 in the radial direction, and at this time, the compression spring 3 of the corresponding elastic guide mechanism is in a compression state.
While the embodiments of the present invention have been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (9)
1. The utility model provides a shock attenuation wheel hinders more which characterized in that: including fixed center frame (1), this fixed center frame (1) has many radial spokes that outwards stretch out and be the circumference and distribute, each the spoke end has arranged walking steamboat (7), adjacent two arrange between the spoke and be convex activity rim plate (2), every activity rim plate (2) all connect through elastic guide mechanism fixed center frame (1), locking mechanism has been arranged in fixed center frame (1), each activity rim plate of locking mechanism control (2) court the stroke that fixed center frame (1) axis direction removed.
2. The obstacle crossing shock absorbing wheel as set forth in claim 1, wherein: each elastic guide mechanism comprises an elastic piece, a bearing seat (5) arranged on the fixed center frame (1), a plurality of linear bearings (10) which are arranged in the bearing seat (5) and are parallel to each other, and a plurality of parallel shafts (4) which can move along the corresponding linear bearings (10), wherein one end of each parallel shaft (4) is connected with the inner wall of the movable wheel plate (2), one end of each elastic piece is connected with the inner wall of the movable wheel plate (2), and the other end of each elastic piece is connected with the fixed center frame (1).
3. The obstacle crossing shock absorbing wheel as set forth in claim 2, wherein: the locking mechanism comprises a wheel disc (8), the wheel disc (8) is provided with a plurality of connecting rods which radially extend outwards and are distributed circumferentially, the number of the connecting rods is the same as that of the parallel shafts (4), the tail ends of the connecting rods are connected with cylindrical pins (6), and the wheel disc (8) enables the cylindrical pins (6) to be pressed or far away from the corresponding end faces of the parallel shafts (4) through a driving mechanism.
4. The obstacle crossing shock absorbing wheel as set forth in claim 3, wherein: the driving mechanism comprises a steering engine (11) arranged on the fixed center frame (1), and the wheel disc (8) is connected with an output shaft of the steering engine (11).
5. The obstacle crossing shock absorbing wheel as set forth in claim 4, wherein: the elastic piece is a compression spring (3) or a rubber elastic sleeve.
6. The obstacle crossing shock absorbing wheel as set forth in claim 5, wherein: the fixed center frame (1) is connected with a flange support (9), the flange support (9) is provided with a plurality of supporting legs connected to the spokes, the end face of the outer side of the flange support (9) is connected with a flange plate (12), and the flange plate (12) is connected with a power input shaft (13) coaxial with the fixed center frame (1).
7. The obstacle crossing shock absorbing wheel as set forth in claim 6, wherein: the outer circumferential surface of each small walking wheel (7) is provided with anti-skid rubber.
8. The obstacle crossing shock absorbing wheel as set forth in claim 6, wherein: and anti-skid rubber is arranged on the outer wall of each movable wheel plate (2).
9. A shock absorbing wheel as claimed in any one of claims 1 to 8, wherein: and a first flange (21) and a second flange (22) are arranged at two ends of each movable wheel plate (2), and the first flange (21) of each movable wheel plate (2) and the second flange (22) of the adjacent movable wheel plate (2) are respectively positioned at two sides of the corresponding small walking wheel (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711484048.4A CN108237841B (en) | 2017-12-29 | 2017-12-29 | Obstacle-crossing shock-absorbing wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711484048.4A CN108237841B (en) | 2017-12-29 | 2017-12-29 | Obstacle-crossing shock-absorbing wheel |
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| Publication Number | Publication Date |
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| CN108237841A CN108237841A (en) | 2018-07-03 |
| CN108237841B true CN108237841B (en) | 2019-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711484048.4A Active CN108237841B (en) | 2017-12-29 | 2017-12-29 | Obstacle-crossing shock-absorbing wheel |
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| CN (1) | CN108237841B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110194264B (en) * | 2019-05-13 | 2021-03-02 | 艾欣创科技(北京)有限公司 | Unmanned aerial vehicle |
| CN111845194B (en) * | 2020-08-04 | 2022-06-10 | 腾讯科技（深圳）有限公司 | Wheel of wheeled mobile equipment and wheeled mobile equipment |
| CN114544339B (en) * | 2022-01-25 | 2023-09-26 | 商洛学院 | Asphalt performance detection test device for municipal works |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201140737Y (en) * | 2007-11-12 | 2008-10-29 | 李汉超 | Multi-wheel combined obstacles surmounting propel mechanism |
| CN205632615U (en) * | 2016-05-17 | 2016-10-12 | 中机国能电力工程有限公司 | Can climb wheel of stair |
| US9757978B1 (en) * | 2014-07-11 | 2017-09-12 | Jonathan D. Emigh | Universal traction wheel and associated vehicle |
-
2017
- 2017-12-29 CN CN201711484048.4A patent/CN108237841B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201140737Y (en) * | 2007-11-12 | 2008-10-29 | 李汉超 | Multi-wheel combined obstacles surmounting propel mechanism |
| US9757978B1 (en) * | 2014-07-11 | 2017-09-12 | Jonathan D. Emigh | Universal traction wheel and associated vehicle |
| CN205632615U (en) * | 2016-05-17 | 2016-10-12 | 中机国能电力工程有限公司 | Can climb wheel of stair |
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| Publication number | Publication date |
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| CN108237841A (en) | 2018-07-03 |
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