CN109383656A - The rotary compound mobile mechanism of wheel leg - Google Patents
The rotary compound mobile mechanism of wheel leg Download PDFInfo
- Publication number
- CN109383656A CN109383656A CN201710690662.XA CN201710690662A CN109383656A CN 109383656 A CN109383656 A CN 109383656A CN 201710690662 A CN201710690662 A CN 201710690662A CN 109383656 A CN109383656 A CN 109383656A
- Authority
- CN
- China
- Prior art keywords
- leg
- wheel
- wheel hub
- upper leg
- damping spring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 29
- 150000001875 compounds Chemical class 0.000 title claims abstract description 19
- 238000013016 damping Methods 0.000 claims abstract description 26
- 210000004907 gland Anatomy 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 230000005021 gait Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000037230 mobility Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000005303 weighing Methods 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
- B62D57/028—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 having wheels and mechanical legs
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Handcart (AREA)
Abstract
The present invention relates to field of special robots, specifically a kind of compound mobile mechanism of rotary wheel leg, including mobile ontology and four wheel bodys, the wheel body includes driving motor, wheel hub and leg assembly, machine shaft on the driving motor is mounted on the mobile ontology, multiple wheel hubs are equipped in the driving motor other end, leg assembly is mounted on wheel hub, the leg assembly includes upper leg, lower leg, gland and damping spring, wherein upper leg and wheel hub are connected, damping spring is equipped in upper leg, lower leg stretches in the upper leg and offsets with the damping spring, the upper leg is installed with gland far from wheel hub one end, one end that the lower leg stretches to the upper leg forms limit head end, and the step surface between the limit head end and the lower leg main body offsets with the gland inner wall.Damping spring is being arranged simultaneously using four-wheel move mode come auxiliary balance movement in the present invention, meets the requirement of environment comprehensive handling capacity.
Description
Technical field
The present invention relates to field of special robots, specifically a kind of compound mobile mechanism of rotary wheel leg.
Background technique
For some severe terrain environments, such as barrier, small ditch, ramp, sand ground, moving machine in the prior art
Structure is mostly also to be had using the single mobile mechanism of any formation in the forms such as wheel, crawler belt, leg using wheel-track band, leg-
Crawler belt etc. forms compound mobile mechanism, and the passability of single mobile mechanism is nothing like compound mobile mechanism, and compound
In type mobile mechanism, the synthesis handling capacity of the compound mobile mechanism of wheel-leg is optimal and the speed of service is high.But also seldom make at present
With the compound mobile mechanism of wheel-leg of four-wheel, because this kind of compound mobile mechanism be there are when major defect, i.e. high-speed motion,
Vibrate bigger, impact failure is also bigger, this is primarily due to the mobile mechanism using four-wheel drive, and on each wheel
Six leg alternating movements, it may appear that serious mistake oscillation phenomenon, especially when contacting hard medium.
Summary of the invention
The purpose of the present invention is to provide a kind of rotary compound mobile mechanisms of wheel leg, same using four-wheel move mode
When, damping spring is placed in the stroke chamber in upper leg and carrys out auxiliary balance movement, has both met the requirement of environment comprehensive handling capacity,
The defect vibrated when the movement of original four-wheel mobile mechanism is weakened, the maneuverability and stability of mobile mechanism are improved.
The purpose of the present invention is achieved through the following technical solutions:
A kind of compound mobile mechanism of rotary wheel leg, it is characterised in that: including mobile ontology and four wheel bodys, movement is originally
Body two sides are respectively provided with two wheel bodys, and the wheel body includes driving motor, wheel hub and leg assembly, the motor on the driving motor
Shaft is mounted on the mobile ontology, is evenly equipped with far from described machine shaft one end along direction of rotation in the driving motor
Multiple wheel hubs, are mounted on a leg assembly on each wheel hub, and the leg assembly includes upper leg, lower leg, gland
And damping spring is equipped with damping spring, the lower leg wherein the upper leg and the wheel hub are connected inside the upper leg
The one end in portion stretches in the upper leg and offsets with the damping spring, and the upper leg is installed with one far from wheel hub one end
A gland, one end diameter that the lower leg stretches to the upper leg are greater than the lower leg main diameter and form spacing head
End, and the step surface between the limit head end and the lower leg main body offsets with the gland inner wall.
The gland is sleeved on the lower leg far from wheel hub one end end, and the gland inner hole wall and the upper leg
The connection of portion end outer wall thread.
The wheel hub is equipped with an internal thread hole, and the upper leg is installed in the internal thread hole.
In the upper leg, the limit head end of the lower leg is far from the upper leg body side and the damping bullet
Spring offsets, and the internal thread hole bottom surface of the damping spring other end and wheel hub offsets.
The bottom plate of the mobile ontology is equipped with multiple installation corner braces.
Along direction of rotation, uniformly there are six wheel hub and six groups of leg assemblies on the wheel body.
Advantages of the present invention and good effect are as follows:
1, present invention placement damping spring in the stroke chamber in upper leg carrys out auxiliary balance movement, mobile using four-wheel
When, the present invention is in static balancing or dynamic balance state, it can be achieved that high-speed mobile in friction speed section, maneuverability,
Movement it is high-efficient, both met environment comprehensive handling capacity requirement, also weaken original four-wheel mobile mechanism movement when vibrate lack
It falls into, improves the maneuverability and stability of mobile mechanism.
2, the external lower leg of the prominent wheel of the present invention can realize the functions such as obstacle detouring, Yue Gou, climbing, unique four-wheel and 20
The compound mobile mechanism of four legs composition can be adapted for the landform of the various complex environments in field.
3, the present invention combines together driving motor and leg assembly, eliminates gear drive, belt drive structure, realizes
Motor direct-drive, reduces the complexity of mechanical mechanism, substantially increases maneuverability and mobile efficiency, while
Reduce the consumption of electric energy.
4, mobile ontology of the invention uses four-wheel move mode, not only increases stability, while may be implemented bionical
Superhard aluminium material is selected in the ipsilateral gait of quadruped robot, diagonal gait, front and back gait, leg, has light-weight, yield strength
Greatly, damping spring can damping the advantages of, be suitble to the operation of field multiple types of floors.
Detailed description of the invention
Fig. 1 is perspective view of the invention,
Fig. 2 is main view of the invention in Fig. 1,
Fig. 3 is top view of the invention in Fig. 1,
Fig. 4 is the wheel body schematic diagram in Fig. 1,
Fig. 5 is the A-A cross-sectional view in Fig. 4.
Wherein, 1 is wheel body, and 2 be mobile ontology, and 6 be upper leg, and 4 be driving motor, and 5 be wheel hub, and 3 be lower leg, and 7 are
Gland, 8 be rubber pad, and 9 be bottom plate, and 10 be installation corner brace, and 11 be damping spring.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in Fig. 1~5, the present invention includes mobile ontology 2 and four wheel bodys 1, wherein moving 2 two sides of ontology is respectively provided with two
A wheel body 1, as shown in Fig. 2 and Fig. 4~5, the wheel body 1 includes driving motor 4, wheel hub 5 and leg assembly, wherein the driving
Motor 4 is DC brushless motor, and the machine shaft on the driving motor 4 is mounted on the mobile ontology 2, in the driving
Motor 4 is evenly equipped with multiple wheel hubs 5 along direction of rotation far from described machine shaft one end, is mounted on one on each wheel hub 5
A leg assembly, as shown in Figure 2 and Figure 5, the leg assembly includes upper leg 6, lower leg 3, gland 7 and damping spring 11,
Wherein the upper leg 6 is threadedly coupled with the wheel hub 5, stroke chamber is formed in upper 6 inner hollow of leg, in the stroke
It is intracavitary to be equipped with damping spring 11, one end of the lower leg 3 stretch in the stroke chamber of the upper leg 6 and with the damping bullet
Spring 11 offsets, and the upper leg 6 is installed with a gland 7 far from 5 one end of wheel hub, and the lower leg 3 stretches to the upper leg 6
One end diameter be greater than lower 3 main diameter of leg and form limit head end, and the limit head end and lower 3 main body of leg
Between step surface offset with 7 inner wall of gland, mechanism compresses the damping spring 11 and plays and subtract in the lower leg 3 when mobile
Shake effect, while the gland 7 limits the lower leg 3 and is displaced, and lower leg 3 is prevented to be detached from.
As shown in figure 5, the gland 7 is sleeved on the upper leg 6 far from 5 one end end of wheel hub, and in the gland 7
Hole wall is connect with the upper 6 end outer wall thread of leg, and an internal thread hole is equipped on the wheel hub 5, and the upper leg 6 is pacified
It is fitted into the internal thread hole, the stroke in the upper leg 6 is intracavitary, and the limit head end of the lower leg 3 is far from the lower leg
3 body side of portion offsets with the damping spring 11, the internal thread hole bottom surface phase of 11 other end of damping spring and wheel hub 5
It supports.
As shown in figure 3, being equipped with multiple installation corner braces 10 on the bottom plate 9 of the mobile ontology 2 for installing other devices
Or equipment.
In the present embodiment, along direction of rotation, uniformly there are six wheel hub 5 and six groups of leg assemblies, mechanisms on each wheel body 1
When walking, 3 free end of lower leg in each group leg assembly is set successively with ground reciprocating contact in lower 3 free end of leg
There is rubber pad 8.
The operation principle of the present invention is that:
The present invention places damping spring 11 in the stroke chamber in upper leg 6 and carrys out auxiliary balance movement, when four wheel bodys 1 are transported
When dynamic, leg thereon can be made to set up, different gaits are realized with different phases, and under friction speed section with static or
Dynamic stability mode realizes advance, retrogressing and the movement such as turning and leaping over obstacles, and wherein when low speed, the present invention is in static state and puts down
Weighing apparatus, when high speed, the present invention realizes dynamic equilibrium, and the driving motor 4 in four wheel bodys 1 is that mobile ontology 2 provides power, passes through control
Movement velocity, acceleration and the rotation direction of driving motor 4 processed realize advance, retrogressing and the left and right turn of mobile ontology 2.This
Invention ensure that ontology in four-wheel movement pattern, is in always due to the control method using static and dynamic stability
Stable state.It solves to move unstable when four wheels turning from principle, improves kinetic stability and high-speed motion efficiency.
In addition of the invention since driving motor is integrated with wheel leg, the integral mechanical structure of mobile ontology is greatly simplified, is improved
Whole mobility, reduces manufacturing cost.
Claims (6)
1. a kind of compound mobile mechanism of rotary wheel leg, it is characterised in that: including mobile ontology (2) and four wheel bodys (1), move
Dynamic ontology (2) two sides are respectively provided with two wheel bodys (1), and the wheel body (1) includes driving motor (4), wheel hub (5) and leg assembly,
Machine shaft on the driving motor (4) is mounted on the mobile ontology (2), in the driving motor (4) far from described
Machine shaft one end is evenly equipped with multiple wheel hubs (5) along direction of rotation, and a leg group is mounted on each wheel hub (5)
Part, the leg assembly includes upper leg (6), lower leg (3), gland (7) and damping spring (11), wherein the upper leg
(6) it is connected with the wheel hub (5), is equipped with damping spring (11) inside the upper leg (6), one end of the lower leg (3)
It stretches in the upper leg (6) and offsets with the damping spring (11), the upper leg (6) is solid far from wheel hub (5) one end
Equipped with a gland (7), it is main that one end diameter that the lower leg (3) stretches to the upper leg (6) is greater than the lower leg (3)
Body diameter forms limit head end, and step surface and the gland (7) between the limit head end and the lower leg (3) main body
Inner wall offsets.
2. the compound mobile mechanism of rotary wheel leg according to claim 1, it is characterised in that: gland (7) suit
In the lower leg (3) far from wheel hub (5) one end end, and outside the gland (7) inner hole wall and upper leg (6) end
Wall is threadedly coupled.
3. the compound mobile mechanism of rotary wheel leg according to claim 1, it is characterised in that: set on the wheel hub (5)
There is an internal thread hole, the upper leg (6) is installed in the internal thread hole.
4. the compound mobile mechanism of rotary wheel leg according to claim 3, it is characterised in that: in the upper leg (6)
Interior, the limit head end of the lower leg (3) offsets far from upper leg (3) body side with the damping spring (11), institute
It states damping spring (11) other end and the internal thread hole bottom surface of wheel hub (5) offsets.
5. the compound mobile mechanism of rotary wheel leg according to claim 1, it is characterised in that: the mobile ontology (2)
Bottom plate (9) be equipped with multiple installation corner braces (10).
6. the compound mobile mechanism of rotary wheel leg according to claim 1, it is characterised in that: edge on the wheel body (1)
Uniformly distributed there are six wheel hub (5) and six groups of leg assemblies for direction of rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710690662.XA CN109383656B (en) | 2017-08-14 | 2017-08-14 | Rotary wheel leg composite type moving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710690662.XA CN109383656B (en) | 2017-08-14 | 2017-08-14 | Rotary wheel leg composite type moving mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109383656A true CN109383656A (en) | 2019-02-26 |
| CN109383656B CN109383656B (en) | 2023-11-21 |
Family
ID=65416720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710690662.XA Active CN109383656B (en) | 2017-08-14 | 2017-08-14 | Rotary wheel leg composite type moving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109383656B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110843955A (en) * | 2019-12-17 | 2020-02-28 | 中国科学院沈阳自动化研究所 | Compound type deformation wheel simulating steps of cattle feet |
| CN113428254A (en) * | 2021-07-07 | 2021-09-24 | 中国科学院沈阳自动化研究所 | Wheel leg formula mobile robot can twist reverse |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020179342A1 (en) * | 2001-06-04 | 2002-12-05 | Quinn Roger D. | Vehicle with compliant drive train |
| US20060185911A1 (en) * | 2005-02-22 | 2006-08-24 | Gamma Two, Inc. | Stair climbing platform apparatus and method |
| CN101844483A (en) * | 2010-05-17 | 2010-09-29 | 北京航空航天大学 | Variable-diameter wheel leg combined wheel structure |
| CN105730537A (en) * | 2016-01-30 | 2016-07-06 | 大连理工大学 | All-terrain robot with heteromorphic wheel type structure |
| CN105882782A (en) * | 2016-05-19 | 2016-08-24 | 吉林大学 | Bionic low-vibration walking wheel |
| CN207045489U (en) * | 2017-08-14 | 2018-02-27 | 中国科学院沈阳自动化研究所 | A kind of rotary compound travel mechanism of wheel leg |
-
2017
- 2017-08-14 CN CN201710690662.XA patent/CN109383656B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020179342A1 (en) * | 2001-06-04 | 2002-12-05 | Quinn Roger D. | Vehicle with compliant drive train |
| US20060185911A1 (en) * | 2005-02-22 | 2006-08-24 | Gamma Two, Inc. | Stair climbing platform apparatus and method |
| CN101844483A (en) * | 2010-05-17 | 2010-09-29 | 北京航空航天大学 | Variable-diameter wheel leg combined wheel structure |
| CN105730537A (en) * | 2016-01-30 | 2016-07-06 | 大连理工大学 | All-terrain robot with heteromorphic wheel type structure |
| CN105882782A (en) * | 2016-05-19 | 2016-08-24 | 吉林大学 | Bionic low-vibration walking wheel |
| CN207045489U (en) * | 2017-08-14 | 2018-02-27 | 中国科学院沈阳自动化研究所 | A kind of rotary compound travel mechanism of wheel leg |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110843955A (en) * | 2019-12-17 | 2020-02-28 | 中国科学院沈阳自动化研究所 | Compound type deformation wheel simulating steps of cattle feet |
| CN113428254A (en) * | 2021-07-07 | 2021-09-24 | 中国科学院沈阳自动化研究所 | Wheel leg formula mobile robot can twist reverse |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109383656B (en) | 2023-11-21 |
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