CN109383656B - Rotary wheel leg composite type moving mechanism - Google Patents
Rotary wheel leg composite type moving mechanism Download PDFInfo
- Publication number
- CN109383656B CN109383656B CN201710690662.XA CN201710690662A CN109383656B CN 109383656 B CN109383656 B CN 109383656B CN 201710690662 A CN201710690662 A CN 201710690662A CN 109383656 B CN109383656 B CN 109383656B
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- China
- Prior art keywords
- leg
- upper leg
- wheel
- damping spring
- hub
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- 230000007246 mechanism Effects 0.000 title claims abstract description 27
- 239000002131 composite material Substances 0.000 title abstract description 9
- 238000013016 damping Methods 0.000 claims abstract description 25
- 210000004907 gland Anatomy 0.000 claims abstract description 16
- 150000001875 compounds Chemical class 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 3
- 230000005021 gait Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression 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
- 230000009194 climbing Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 239000004576 sand 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
- 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)
- Handcart (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of special robots, in particular to a rotary wheel-leg composite type moving mechanism which comprises a moving body and four wheel bodies, wherein each wheel body comprises a driving motor, a hub and leg components, a motor rotating shaft on the driving motor is arranged on the moving body, a plurality of hubs are arranged at the other end of the driving motor, leg components are arranged on the hubs, each leg component comprises an upper leg, a lower leg, a gland and a damping spring, the upper leg is fixedly connected with the hubs, the damping spring is arranged in the upper leg, the lower leg stretches into the upper leg and is abutted against the damping spring, a gland is arranged at one end of the upper leg far away from the hubs, a limit head end is formed at one end of the lower leg, which stretches into the upper leg, and a step surface between the limit head end and the lower leg main body is abutted against the inner wall of the gland. The four-wheel moving mode is adopted, and the damping springs are arranged at the same time to assist balance movement, so that the requirement of comprehensive passing capability of the environment is met.
Description
Technical Field
The invention relates to the field of special robots, in particular to a rotary wheel-leg composite type moving mechanism.
Background
For some severe terrain environments, such as obstacles, small ditches, slopes, sand and the like, the moving mechanism in the prior art mostly adopts any one of the forms of wheels, tracks, legs and the like to form a single moving mechanism, and also adopts the forms of wheels-tracks, legs-tracks and the like to form a composite moving mechanism, so that the trafficability of the single moving mechanism is far inferior to that of the composite moving mechanism, and in the composite moving mechanism, the comprehensive trafficability of the wheels-legs composite moving mechanism is optimal and the running speed is high. However, four-wheel-leg compound type moving mechanisms are rarely used at present, because the compound type moving mechanism has serious defects that the vibration is relatively large and the impact damage is relatively large during high-speed movement, mainly because the moving mechanism adopts four-wheel drive, and six legs on each wheel alternately move, serious fault vibration phenomenon can occur, especially when the moving mechanism contacts hard media.
Disclosure of Invention
The invention aims to provide a rotary wheel leg compound type moving mechanism, which adopts a four-wheel moving mode, and meanwhile, a damping spring is arranged in a travel cavity in an upper leg to assist balance movement, so that the requirement of environment comprehensive passing capability is met, the defect of vibration during movement of an original four-wheel moving mechanism is weakened, and the flexibility and stability of the moving mechanism are improved.
The aim of the invention is realized by the following technical scheme:
the utility model provides a compound moving mechanism of rotation type wheel leg which characterized in that: including removing body and four wheels body, remove body both sides respectively and be equipped with two wheels body, the wheel body includes driving motor, wheel hub and shank subassembly, motor shaft on the driving motor installs on the removal body driving motor keeps away from motor shaft one end has a plurality of wheel hubs along the direction of rotation equipartition, all installs a shank subassembly on every wheel hub, shank subassembly includes shank, lower leg portion, gland and damping spring, wherein the shank with wheel hub links firmly the inside damping spring that is equipped with of shank, the one end of shank stretches into in the shank and with damping spring offsets, the shank is kept away from wheel hub one end and is set firmly a gland, the shank stretches into to the one end diameter of shank is greater than shank main part diameter forms spacing head end down, just spacing head end with step face between the shank main part down offsets with the gland inner wall.
The gland suit is in lower shank is kept away from wheel hub one end tip, and gland inner hole wall with upper leg tip outer wall threaded connection.
The hub is provided with an internal threaded hole, and the upper leg is installed in the internal threaded hole.
In the upper leg, the limit head end of the lower leg is far away from one side of the upper leg main body and is propped against the damping spring, and the other end of the damping spring is propped against the bottom surface of the internal threaded hole of the hub.
And a plurality of installation corner codes are arranged on the bottom plate of the movable body.
Six hubs and six groups of leg components are uniformly distributed on the wheel body along the rotation direction.
The invention has the advantages and positive effects that:
1. the invention has the advantages that the damping springs are arranged in the travel cavity in the upper leg to assist balance movement, when four-wheel movement is adopted, the invention is in a static balance or dynamic balance state in different speed intervals, high-speed movement can be realized, the movement is flexible and high in movement efficiency, the requirement of comprehensive environment passing capability is met, the defect of vibration when the original four-wheel movement mechanism moves is weakened, and the flexibility and stability of the movement mechanism are improved.
2. The lower leg protruding out of the wheel body can realize the functions of obstacle crossing, ditch crossing, climbing and the like, and the unique composite moving mechanism consisting of four wheels and twenty-four legs can be suitable for terrains of various complex environments in the field.
3. The invention integrates the driving motor and the leg component, removes a gear transmission and belt transmission structure, realizes direct driving of the motor, reduces the complexity of a mechanical mechanism, greatly improves the flexibility and the moving efficiency of the motor and simultaneously reduces the consumption of electric energy.
4. The four-wheel moving mode is adopted by the moving body, so that the stability is improved, the homolateral gait, the diagonal gait and the front-back gait of the bionic four-foot robot can be realized, the leg is made of super hard aluminum, and the four-wheel moving body has the advantages of light weight, high yield strength and damping spring damping, and is suitable for various ground operations in the field.
Drawings
Figure 1 is a perspective view of the present invention,
figure 2 is a front view of the invention of figure 1,
figure 3 is a top view of the invention of figure 1,
figure 4 is a schematic view of the wheel of figure 1,
fig. 5 is a cross-sectional view A-A of fig. 4.
Wherein, 1 is the wheel body, 2 is the removal body, 6 is the upper leg portion, 4 is driving motor, 5 is wheel hub, 3 is the lower leg portion, 7 is the gland, 8 is the rubber pad, 9 is the bottom plate, 10 is the installation angle sign indicating number, 11 is damping spring.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 5, the invention comprises a moving body 2 and four wheel bodies 1, wherein two wheel bodies 1 are respectively arranged on two sides of the moving body 2, as shown in fig. 2 and 4 to 5, the wheel bodies 1 comprise a driving motor 4, a wheel hub 5 and leg components, wherein the driving motor 4 is a direct-current brushless motor, a motor rotating shaft on the driving motor 4 is arranged on the moving body 2, a plurality of wheel hubs 5 are uniformly distributed at one end, far away from the motor rotating shaft, of the driving motor 4, on each wheel hub 5, a leg component is arranged, as shown in fig. 2 and 5, the leg component comprises an upper leg 6, a lower leg 3, a gland 7 and a damping spring 11, the upper leg 6 is in threaded connection with the wheel hub 5, a travel cavity is formed in the upper leg 6, the travel cavity is internally provided with the damping spring 11, one end of the lower leg 3 stretches into the travel cavity of the upper leg 6 and abuts against the damping spring 11, one end, far away from the wheel hub 5, of the upper leg 6 is fixedly provided with a leg 7, the lower leg 3 stretches into the head end of the lower leg 3 and abuts against the lower leg 3, and the head end of the lower leg 3 and the lower leg 3 is in diameter of the lower leg 3 is limited by the lower leg 3 and is in diameter of the lower leg 3, and the lower leg 3 abuts against the head end 3 and the lower end 3 is in diameter of the lower leg 3 is limited by the lower leg 3, and the lower end is in a compression body 3 is in a limit position-limiting position, and the diameter is in the diameter of the lower leg 3 is in between the body 3 and the lower body is in a compression body is prevented.
As shown in fig. 5, the gland 7 is sleeved at the end part of the upper leg 6 far away from the hub 5, the inner hole wall of the gland 7 is in threaded connection with the outer wall of the end part of the upper leg 6, an inner threaded hole is formed in the hub 5, the upper leg 6 is installed in the inner threaded hole, the limit head end of the lower leg 3 is far away from the main body side of the lower leg 3 and abuts against the damping spring 11 in the travel cavity of the upper leg 6, and the other end of the damping spring 11 abuts against the bottom surface of the inner threaded hole of the hub 5.
As shown in fig. 3, a plurality of mounting brackets 10 are provided on the bottom plate 9 of the moving body 2 for mounting other devices or apparatuses.
In this embodiment, six hubs 5 and six sets of leg components are uniformly distributed on each wheel body 1 along the rotation direction, when the mechanism walks, the free ends of the lower legs 3 in the leg components are in contact with the ground in a reciprocating manner, and the free ends of the lower legs 3 are provided with rubber pads 8.
The working principle of the invention is as follows:
the invention is provided with the damping springs 11 in the travel cavity in the upper leg 6 to assist balance movement, when the four wheel bodies 1 move, the legs on the four wheel bodies can be assembled, different gaits can be realized by different phases, and actions such as forward movement, backward movement, turning, crossing obstacles and the like can be realized in a static or dynamic stable mode in different speed intervals, wherein at low speed, the invention is in static balance, and at high speed, the invention realizes dynamic balance, the driving motors 4 in the four wheel bodies 1 provide power for the movable body 2, and the forward movement, backward movement and left and right turning of the movable body 2 are realized by controlling the movement speed, the acceleration and the rotation direction of the driving motors 4. The invention adopts a static and dynamic stable control method, so that the body is always in a stable state when moving in a four-wheel movement mode. In principle, the problem of unstable movement of four wheels during turning is solved, and the movement stability and the high-speed movement efficiency are improved. In addition, the driving motor and the wheel legs are integrated, so that the whole mechanical structure of the movable body is greatly simplified, the whole maneuvering performance is improved, and the manufacturing cost is reduced.
Claims (3)
1. The utility model provides a compound moving mechanism of rotation type wheel leg which characterized in that: the automatic limit device comprises a movable body (2) and four wheel bodies (1), wherein two wheel bodies (1) are respectively arranged on two sides of the movable body (2), the wheel bodies (1) comprise a driving motor (4), hubs (5) and leg components, a motor rotating shaft on the driving motor (4) is arranged on the movable body (2), a plurality of hubs (5) are uniformly distributed at one end, far away from the motor rotating shaft, of the driving motor (4) along the rotating direction, of each hub (5), each leg component comprises an upper leg (6), a lower leg (3), a gland (7) and a damping spring (11), the upper leg (6) is fixedly connected with the hub (5), a damping spring (11) is arranged in the upper leg (6), one end of the lower leg (3) extends into the upper leg (6) and abuts against the damping spring (11), a gland (7) is fixedly arranged at one end, far away from the hub (5), of the upper leg (6), and the diameter of the lower leg (3) extends into the upper leg (6) and abuts against the lower end of the head end of the main body (3) and abuts against the lower leg (3), and the diameter of the upper leg (3) is larger than the head end of the main body (3), and the upper leg (3) is abutted against the upper end of the main body (3) and the main body (3);
the gland (7) is sleeved at the end part of the upper leg part (6) far away from the hub (5), and the inner hole wall of the gland (7) is in threaded connection with the outer wall of the end part of the upper leg part (6);
the hub (5) is provided with an internal threaded hole, and the upper leg (6) is installed in the internal threaded hole;
in the upper leg part (6), the limit head end of the lower leg part (3) is far away from one side of the main body of the lower leg part (3) and is propped against the damping spring (11), and the other end of the damping spring (11) is propped against the bottom surface of the internal threaded hole of the hub (5).
2. The rotary wheel-leg compound movement mechanism of claim 1, wherein: a plurality of installation angle codes (10) are arranged on the bottom plate (9) of the movable body (2).
3. The rotary wheel-leg compound movement mechanism of claim 1, wherein: six hubs (5) and six groups of leg components are uniformly distributed on the wheel body (1) along the rotation direction.
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 CN109383656A (en) | 2019-02-26 |
| CN109383656B true CN109383656B (en) | 2023-11-21 |
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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 |
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| CN (1) | CN109383656B (en) |
Families Citing this family (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 (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6964309B2 (en) * | 2001-06-04 | 2005-11-15 | Biorobots, Llc | Vehicle with compliant drive train |
| US7380618B2 (en) * | 2005-02-22 | 2008-06-03 | Gamma Two, Inc. | Stair climbing platform apparatus and method |
-
2017
- 2017-08-14 CN CN201710690662.XA patent/CN109383656B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| Publication number | Publication date |
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| CN109383656A (en) | 2019-02-26 |
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