CN109703285A - A kind of restructural wheel of high rigidity/shoe deformation walking mechanism - Google Patents
A kind of restructural wheel of high rigidity/shoe deformation walking mechanism Download PDFInfo
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- CN109703285A CN109703285A CN201910014835.5A CN201910014835A CN109703285A CN 109703285 A CN109703285 A CN 109703285A CN 201910014835 A CN201910014835 A CN 201910014835A CN 109703285 A CN109703285 A CN 109703285A
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Abstract
The present invention provides a kind of restructural wheel of high rigidity/shoe deformation walking mechanism comprising body, driving assembly, vehicle wheel component and reconstitution assembly, body include the two foreign steamer units and connector being arranged symmetrically, and the plane of symmetry of two foreign steamer units is face in transverse direction；Driving assembly includes main shaft and two driving gears being arranged symmetrically about face in transverse direction, is symmetrically mounted on main shaft and forms driving assembly；Vehicle wheel component includes two internal gears being arranged symmetrically about face in transverse direction, and internal gear is connect with body by revolute pair, and two driving gears are meshed with two internal gears respectively, to realize transmission；Reconstitution assembly includes two deformation mechanisms, and the switching of vehicle with walking machine bucket wheel/shoe forms of motion may be implemented by the deformation of taking down the exhibits of two deformation mechanisms；The present invention is over-constraint structure, and rigidity is high, and stability is high, can be applied to Post disaster relief robot rapid moving mechanism etc..
Description
Technical field
The present invention relates to a kind of restructural wheel/shoe deformation mechanisms, especially design a kind of restructural wheel of high rigidity/shoe change
Shape walking mechanism.
Background technique
With the deep combination of mobile robot and modern society and economy, a main target of mobile robot is side
Class of helping others entrance is unable to reach or the region with high risk.These fields include catastrophic event search and rescue with rescue
It helps, space exploration or the following asteroid are exploited.Mobile robot is executing celestial body detecting, battle reconnaissance, explosive, disaster relief etc.
When task, locating operating environment is mostly that ground environment is more complicated and uncertain non-structure environment, this is to moving machine
More stringent requirements are proposed for the characteristics such as kinematic dexterity, obstacle detouring and the environmental suitability of structure itself.
Traditional wheel/shoe mobile robot mostly uses wheel/shoe replaceable and wheel/shoe combined type, wherein taking turns/carrying out and is replaceable
Mobile robot take turns/and to carry out replacing construction longer；Wheel/shoe assembled moving robot architecture is complicated and manufacture and maintenance at
This is higher.For traditional wheel/shoe mobile robot, restructural wheel/caterpillar structure-variable robot can be according to working environment
Variation change itself configuration, to have stronger adaptability, only with the restructural mechanism of a set of coupling, structure it is simple and
It is compact, the switching of wheel/shoe can be fast implemented；Collect the high-speed type of wheel type traveling mechanism and the high obstacle detouring of crawler type walking mechanism
With one, complicated and uncertain non-structure environment is more adapted to.When encountering hard flat road surface, robot is with wheeled
Walking mechanism high speed passes through；When encountering the environment such as the soft environment such as sandy beach and rough road surface, robot is with crawler belt
The walking of formula walking mechanism, when encountering the obstacles road conditions such as step and stair, robot carries out obstacle detouring to take turns/carry out intermediate state.
With the demand of all kinds of complex environments, there is various wheels/shoe displacement robot, and some mobile robots
Rigidity and intensity in wheel/shoe deformation process and after deformation is lower, and integrally-built reliability is low.Therefore, it needs
Wheel/shoe with the performances such as high rigidity, high stability, deformation time be short is developed on the basis of existing wheel/shoe deformation mechanism to become
Shape mechanism, to meet the needs of various complex environments.
Summary of the invention
The purpose of the present invention is to provide one kind to have the excellent performances such as high rigidity, high stability, wheel/shoe deformation time be short
The restructural wheel of high rigidity/shoe deform walking mechanism, embodiments thereof are simple, high reliablity, can be applied to Post disaster relief machine
People's rapid moving mechanism.
Specifically, the present invention provides a kind of restructural wheel of high rigidity/shoe deformation walking mechanism comprising body, driving group
Part, vehicle wheel component and reconstitution assembly；
The body includes two symmetrically arranged foreign steamer units, and two foreign steamer units are mutually permanently connected by connector
Body is formed, the plane of symmetry of two foreign steamer units is as face in transverse direction；
The driving component includes main shaft and the identical driving gear of two structures, and two driving gears are relative to transverse direction
Middle face is arranged symmetrically；
The vehicle wheel component includes the identical internal gear of two structures, and two internal gears are relative to the symmetrical cloth in face in transverse direction
It sets, the internal gear is connect with body by revolute pair, and two driving gears are meshed with two internal gears respectively, the rotation of main shaft
Turn to drive two driving gear rotations, so that two internal gears be driven to rotate the movement for realizing entire walking mechanism；
The reconstitution assembly includes two deformation mechanisms, and deformation mechanism is arranged symmetrically relative to face in longitudinal direction, two deformations
Mechanism is connected by revolute pair with body with connector respectively, can be realized vehicle with walking machine by the deformation of taking down the exhibits of two deformation mechanisms
The switching of bucket wheel/shoe forms of motion.
Preferably, the connector includes the first foreign steamer connector, the second foreign steamer connector and central connector, described
First foreign steamer connector and the second foreign steamer connector are arranged symmetrically, and the plane of symmetry of two foreign steamer connectors is as in longitudinal direction
Face, the first foreign steamer connector and the second foreign steamer connector are d at a distance from face in longitudinal direction, and the central connector passes through
The center of the foreign steamer unit, two deformation mechanisms are arranged symmetrically relative to face in the longitudinal direction.
Preferably, the foreign steamer unit includes a body plate and two driven tooths being arranged symmetrically about face in longitudinal direction
Wheel, the body plate are thin column structure, and described two driven gears pass through revolute pair with body plate respectively and connect.
Preferably, the radius of the body plate be less than the internal gear profile radius, each driven gear respectively with
Internal gear is meshed, so that the rotation for internal gear provides a supporting role.
Preferably, the deformation mechanism includes swing rod support wheel branch, hydraulic stem branch and synchronising hinge branch, the pendulum
Bar support wheel branch includes a rolling support cylinder, the first Auxiliary support cylinder, the second Auxiliary support cylinder, two identical knots
The swing rod of structure, the first support cylindrical connection and the second support cylindrical connection, the length of the second Auxiliary support cylinder are big
In the length of the first Auxiliary support cylinder, the structure of the first support cylindrical connection and the second support cylindrical connection
It is identical；
The both ends of the hydraulic stem branch open up the cylindrical hole parallel there are two axis respectively, and central connector insertion is hydraulic
It is connected in the cylindrical hole of one end of bar branch and by revolute pair, forms the second of revolute pair with the first Auxiliary support cylinder
It supports in the cylindrical hole of cylindrical connection insertion another end of hydraulic stem branch and by revolute pair and hydraulic stem branch chain link；
The synchronising hinge branch includes the first synchromesh gear bar, the second synchromesh gear bar and gear linkage, described
The length of first synchromesh gear bar is greater than the length of the second synchromesh gear bar, and the shaft of the two synchromesh gears bar is in cylinder
Body, gear end are equipped with positive stop lug boss, are conducive to deformation mechanism and reach and keep fully unfolded position and be conducive to reconstitution assembly
Smoothly complete gathering work.
Preferably, described two swing rods are opened up respectively there are three cylindrical hole, and three cylindrical holes are respectively the first cylindrical hole, the
Two cylindrical holes and third cylindrical hole, wherein the first cylindrical hole and the second cylinder axially bored line spacing are d1, the second cylindrical hole and
Three cylinder axially bored line spacing are d2, the position between each cylindrical hole of two swing rods corresponds to each other respectively, rolling support cylinder and
One support cylindrical connection is connected two swing rods by revolute pair, and two pendulum are inserted at the both ends of the first support cylindrical connection respectively
It is in first cylindrical hole of bar and fixed；
First Auxiliary support cylinder is connect with the second support cylindrical connection by revolute pair, the second support cylindrical connection
Both ends be inserted into respectively it is in second cylindrical hole of two swing rods and fixed；
Second Auxiliary support cylinder is connect with the first foreign steamer connector by revolute pair, the both ends point of the first foreign steamer connector
It Cha Ru not be in the third cylindrical hole of two swing rods and fixed；
First support cylindrical connection, second support cylindrical connection and the first foreign steamer connector by two swing rods, one
A rolling support cylinder and two Auxiliary support cylinders connect to form swing rod support wheel branch.
Preferably, the gear end of the first synchromesh gear bar offers the axis cylindrical hole vertical with face of gear, described
The other end of first synchromesh gear bar offers the cylindrical hole parallel with its gear end cylinder axially bored line, first synchromesh gear
The distance of bar both ends cylindrical hole axis is l1；
The gear end of the second synchromesh gear bar offers the axis cylindrical hole vertical with face of gear, the second synchromesh gear
The other end of bar offers the cylindrical hole parallel with its gear end cylinder axially bored line, the second synchromesh gear bar both ends cylindrical hole axis
Distance be l2, l2Less than the profile radius of internal gear.
Preferably, the gear linkage is symmetrical structure, and the gear linkage two sides offer two pairs of axis respectively
The cylindrical hole of coincidence, and two pairs of cylindrical holes of two sides are to be arranged symmetrically, the gear end cylindrical hole and gear of the first synchromesh gear bar
Two cylindrical holes of connector side are connected by revolute pair, and the first support cylindrical connection is inserted into the another of the first synchromesh gear bar
It is connected in the cylindrical hole of one end and by revolute pair, the gear end cylindrical hole of the second synchromesh gear bar and the gear linkage other side
Two cylindrical holes by revolute pair connect, central connector be inserted into the second synchromesh gear bar the other end cylindrical hole in and lead to
Revolute pair connection is crossed, the two sides of the gear linkage are respectively arranged with a positive stop lug boss, and the setting of the positive stop lug boss is used
It is limited in synchromesh gear bar.
Preferably, the expansion or gathering of reconstitution assembly be can be realized by controlling the length of hydraulic stem branch, is cut with scissors when synchronous
When two synchromesh gear bars of chain branch are fully deployed, reconstitution assembly is in fully unfolded position, at this time the rolling support circle
The public section in the bottom of column and internal gear is exactly horizontal plane, and restructural wheel/shoe deformation walking mechanism can be complete in reconstitution assembly
Crawler type movement is realized in the state of full expansion.
Preferably, when reconstitution assembly is in fully unfolded position, the angle in face is α in hydraulic stem branch and longitudinal direction, together
The angle for walking hinge branch and hydraulic stem branch is β, the dimensions length relationship of each structure of deformation mechanism are as follows:
Internal gear profile radius RIt is interiorWith rolling support cylinder outer diameter RRollingSize relation are as follows:
The present invention has following advantageous effects compared with the existing technology:
1. being over-constraint structure when deformation mechanism of the present invention is fully deployed, rigidity is high, and stability is high, has movement flexible
The advantages of, can be achieved wheel/shoe motion switch, reconstitution assembly includes two deformation mechanisms being arranged symmetrically about longitudinally asymmetric face,
The structure of two deformation mechanisms is identical, two deformation mechanisms respectively with foreign steamer connector and central connector by revolute pair with
Body is connected, and can be realized vehicle with walking machine bucket wheel/shoe forms of motion by the deformation of taking down the exhibits of two deformation mechanisms and is switched fast.
2. being fitted present invention employs modular design philosophy, it can be achieved that modularized production, reduces manufacturing cost and difficulty
Suitable large-scale promotion uses.
3. the configuration of the present invention is simple, embodiments thereof are simple, high reliablity, can be applied to Post disaster relief robot and quickly move
Motivation structure or other mobile mechanisms, work efficiency is high, easy to use.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the overlooking structure diagram when present invention is fully deployed；
Fig. 2 is the schematic perspective view of Fig. 1；
Fig. 3 is the schematic view of the front view of Fig. 1；
Fig. 4 is the schematic view of the front view when present invention half is unfolded；
Fig. 5 is the schematic perspective view when present invention collapses completely；
Fig. 6 is the schematic perspective view of body of the invention；
Fig. 7 is the schematic perspective view of foreign steamer unit of the invention；
Fig. 8 is the schematic perspective view of driving assembly of the invention；
Fig. 9 is the schematic perspective view of internal gear of the invention；
Figure 10 is schematic perspective view when reconstitution assembly of the invention is fully deployed；
Figure 11 is schematic perspective view when reconstitution assembly of the invention collapses completely；
Figure 12 is schematic view of the front view when deformation mechanism of the invention is fully deployed；
Figure 13 is the schematic perspective view of swing rod support wheel branch of the invention；
Figure 14 is the schematic perspective view of the swing rod of invention；
Figure 15 is the schematic perspective view of the synchronising hinge branch of invention；
Figure 16 is the schematic perspective view of the long synchromesh gear bar of invention；
Figure 17 is the schematic perspective view of the short synchromesh gear bar of invention；And
Figure 18 is the schematic perspective view of the gear linkage of invention.
The Detailed description of the invention of part-structure is as described below in figure:
100- body, 200- driving assembly, 300- vehicle wheel component, 400- reconstitution assembly, 500- foreign steamer unit, 600- deformation
Mechanism；
The first foreign steamer of 101- connector, the second foreign steamer of 102- connector, 2- central connector, 3- body plate, 4- driven tooth
Wheel, 5- main shaft, 6- driving gear, 7- internal gear, 8- rolling support cylinder, the first Auxiliary support of 9- cylinder, the auxiliary branch of 10- second
Holding round column, 11- swing rod, 121- first supports cylindrical connection, 122- second to support cylindrical connection, the first synchromesh gear of 13-
Bar, the second synchromesh gear of 14- bar, 15- gear linkage；
601- swing rod support wheel branch, 602- synchronising hinge branch, 603- hydraulic stem branch；The first cylindrical hole of 111-,
The second cylindrical hole of 112-, 113- third cylindrical hole.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Based on the embodiments of the present invention, those of ordinary skill in the art institute without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of restructural wheel of high rigidity/shoes to deform walking mechanism, is deposited with solving the prior art
The problem of.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
The present embodiment provides a kind of restructural wheel of high rigidity/shoes to deform walking mechanism, as shown in Figures 1 to 5, including body
100, driving assembly 200, vehicle wheel component 300 and reconstitution assembly 400.
As shown in fig. 6, body 100 includes two foreign steamer units being arranged symmetrically, 500, two the first foreign steamers being arranged symmetrically
The central connector 2 of connector 101 and the second foreign steamer connector 102, one mistake foreign steamer unit centers.
The plane of symmetry of two foreign steamer units 500 is defined as face in transverse direction, the plane of symmetry of two foreign steamer connectors 101 and 102
It is defined as face in longitudinal direction, and central connector 2 is passed through in face in longitudinal direction.
Two symmetrical foreign steamer 500 structures of unit are identical, and two foreign steamer units 500 pass through the first foreign steamer connector
101, the second foreign steamer connector 102 and a central connector 2, which are mutually permanently connected, forms body 100, the first foreign steamer connector
101 and second foreign steamer connector 102 be d at a distance from face in longitudinal direction.
As shown in fig. 7, foreign steamer unit 500 is by a body plate 3 and two driven tooths being arranged symmetrically about face in longitudinal direction
4 composition of wheel, body plate 3 is thin column structure, and two driven gears 4 are connect by revolute pair respectively with body plate 3, R in figure3
For the radius of body plate 3.
As shown in figure 8, driving assembly 200 includes main shaft 5 and two driving gears 6 being arranged symmetrically about face in transverse direction,
Two driving gear structures are identical, are symmetrically mounted on composition driving assembly 200 on main shaft 5.
Vehicle wheel component 300 includes two internal gears 7 being arranged symmetrically about face in transverse direction, and the structure of two internal gears 7 is complete
It is exactly the same.The structure of internal gear 7 is as shown in figure 9, in figure, R7For the profile radius of internal gear 7；Internal gear 7 passes through with body 100
Revolute pair connection, two driving gears 6 are meshed with two internal gears 7 respectively, and the rotation of main shaft 5 drives two driving gears 6
Rotation, so that two internal gears 7 be driven to rotate.
The radius R of body plate 33Less than the profile radius R of internal gear 77, it is internal tooth that driven gear 4 is meshed with internal gear 7
The rotation of wheel 7 provides support；By driving the driving effect of gear 6 and the supporting role of driven gear 4, to realize entire
The movement of walking mechanism.
As shown in figs. 10-11, reconstitution assembly 400 includes two deformation mechanisms 600 being arranged symmetrically about longitudinally asymmetric face,
The structure of two deformation mechanisms 600 is identical, and two deformation mechanisms 600 connect with the first foreign steamer connector 101, the second foreign steamer respectively
Fitting 102 and central connector 2 are connected by revolute pair with body 100, can by the deformation of taking down the exhibits of two deformation mechanisms 600
Realize the switching of vehicle with walking machine bucket wheel/shoe forms of motion.
As shown in figure 12, deformation mechanism 600 is by swing rod support wheel branch 601, synchronising hinge branch 602 and hydraulic stem branch
603 are constituted.
As shown in figure 13, swing rod support wheel branch 601 is R by an outer diameter8Rolling support cylinder 8, first assist branch
Hold round column 9,10, two, the second Auxiliary support cylinder, 11, two mutually isostructural support cylindrical connections of mutually isostructural swing rod
And the first foreign steamer connector 101 composition shared with body 100, the first Auxiliary support cylinder 9 and the second Auxiliary support
10 internal diameter of cylinder and outer diameter are identical, and the first Auxiliary support cylinder 9 is slightly shorter than the second Auxiliary support cylinder 10；Two identical structures
Support cylindrical connection be respectively the first support cylindrical connection 121 and the second support cylindrical connection 122.
As shown in Figs. 13 and 14, two swing rods 11 open up three cylindrical holes, respectively the first cylindrical hole 111, second respectively
The axis spacing of cylindrical hole 112 and third cylindrical hole 113, the first cylindrical hole 111 and the second cylindrical hole 112 is d1, the second cylinder
The axis spacing of hole 112 and third cylindrical hole 113 is d2, each cylindrical hole of two swing rods 11 corresponds to each other, rolling support cylinder 8 with
First support cylindrical connection 121 is connected by revolute pair, and the both ends of the first support cylindrical connection 121 are inserted into two respectively
In first cylindrical hole 111 of swing rod 11 and fixed, the first Auxiliary support cylinder 9 and the second support cylindrical connection 122 are by turning
Dynamic secondary connection, the both ends of the second support cylindrical connection 122 are inserted into second cylindrical hole 112 of two swing rods 11 and solid respectively
It is fixed.
Longer second Auxiliary support cylinder 10 is connect with the first foreign steamer connector 101 by revolute pair, first foreign steamer
The both ends of connector 101 are inserted into the third cylindrical hole 113 of two swing rods 11 and fixed respectively.
Two support cylindrical connections and the first foreign steamer connector 101 are by two swing rods, 11, rolling support cylinders
8, the first Auxiliary support cylinder 9 and the second Auxiliary support cylinder 10 connect to form swing rod support wheel branch 601.
The both ends of hydraulic stem branch 603 open up two parallel cylindrical holes of axis respectively, and central connector 2 is inserted into hydraulic stem
It is connected in the cylindrical hole of 603 one end of branch and by revolute pair, forms the second support of revolute pair with the first Auxiliary support cylinder 9
Cylindrical connection 122 is inserted into the cylindrical hole of 603 other end of hydraulic stem branch and is connected by revolute pair.
As shown in figure 15, synchronising hinge branch 602 is by the first synchromesh gear bar 13, the second synchromesh gear bar 14 and gear
Connector 15 forms, and the second synchromesh gear bar 14 is slightly shorter than the first synchromesh gear bar 13；The body of rod of two synchromesh gear bars is in round
Column structure, the gear end of cylindrical structure are respectively equipped with positive stop lug boss 133 and positive stop lug boss 143, the configuration of positive stop lug boss 143
Be conducive to reconstitution assembly 400 to reach and keep fully unfolded position and be conducive to reconstitution assembly 400 to smoothly complete gathering work.
As shown in figure 16,13 gear end of the first synchromesh gear bar offers the axis cylindrical hole 131 vertical with face of gear, separately
One end offers the cylindrical hole 132 parallel with its gear end cylinder axially bored line, the axis of 13 both ends cylindrical hole of the first synchromesh gear bar
Line spacing is l1。
As shown in figure 17,14 gear end of the second synchromesh gear bar offers the axis cylindrical hole 141 vertical with face of gear, separately
One end offers the cylindrical hole 142 parallel with its gear end cylinder axially bored line, and the axis spacing of both ends cylindrical hole is l2, l2It is less than
The profile radius R of internal gear 77, restructural wheel/shoe deformation walking mechanism when reconstitution assembly 400 is in complete rounding state into
The wheeled quick movement of row.
As shown in Figure 10 and 18, gear linkage 15 is symmetrical structure, opens up two pairs respectively in 15 two sides of gear linkage
The cylindrical hole 151,152 that axis is overlapped, and two pairs of cylindrical holes 151,152 of two sides are to be arranged symmetrically, longer first synchronous gear
The cylindrical hole 151 that the gear end cylindrical hole of wheel bar 13 is overlapped with two axis of 15 side of gear linkage is connected by revolute pair
It connects, the first support cylindrical connection 121 for forming revolute pair with rolling support cylinder 8 is inserted into the another of the first synchromesh gear bar 13
It is connected in the cylindrical hole at end and by revolute pair, the gear end cylindrical hole and the gear linkage other end of the second synchromesh gear bar 14
Two axis be overlapped cylindrical hole 152 by revolute pair connect, central connector 2 insertion the second synchromesh gear bar 14 it is another
It is connected in the cylindrical hole at end and by revolute pair, 15 two sides of gear linkage are respectively equipped with a positive stop lug boss, and positive stop lug boss is used
Limit during the expansion of two synchromesh gear bars, in figure, only shows the positive stop lug boss 153 of 15 1 ends of gear linkage,
The positive stop lug boss of the other end is not shown.
Length by controlling hydraulic stem branch 603 can realize the expansion or gathering of reconstitution assembly 400.When synchronising hinge branch
When two synchromesh gear bars of chain 602 are fully deployed, reconstitution assembly 400 is in fully unfolded position, rolling support cylinder 8 with it is interior
The public section in the bottom of gear 7 is exactly horizontal plane, and restructural wheel/shoe deformation walking mechanism can be complete in reconstitution assembly 400
Crawler type movement is realized in the state of expansion.
When reconstitution assembly 400 is in fully unfolded position, the angle in face is α in hydraulic stem branch 603 and longitudinal direction, synchronous
The angle of hinge branch 602 and hydraulic stem branch 603 is β, and the dimensions length relationship of each structure of deformation mechanism is
7 profile radius R of internal gear7With 8 outer diameter R of rolling support cylinder8Size relation be
The working principle of the invention is further explained below:
When in use, the 300 outer layer envelope of vehicle wheel component of the restructural wheel of the high rigidity/shoe deformation walking mechanism one layer can
The resilient track (being not drawn into figure) of deformation.When the walking mechanism is in flat road surface, at the reconstitution assembly 400 of the vehicle with walking machine
In complete rounding state, entire mechanism carries out wheeled fast move.
When the mechanism encounters the landform such as barrier, gully, wheel type movement can not be successfully progress, which passes through
Increase the length of hydraulic stem branch 603, to realize the expansion of reconstitution assembly 400, passes through the rolling support circle of reconstitution assembly 400
The effect of column 8, resilient track start to deform, and walking mechanism becomes crawler type walking mechanism from wheel type traveling mechanism to be gone
It walks.
When the gear end of two synchromesh gear bars positive stop lug boss 133 and positive stop lug boss 143 respectively with gear linkage 15
When the positive stop lug boss 153 at both ends and another unshowned positive stop lug boss contact, i.e., when reconstitution assembly 400 is fully deployed, this
When, two deformation mechanisms of reconstitution assembly 400 are double triangle mechanism, and stability is strong.
The present invention has following advantageous effects compared with the existing technology:
1. being over-constraint structure when deformation mechanism of the present invention is fully deployed, rigidity is high, and stability is high, has movement flexible
The advantages of, can be achieved wheel/shoe motion switch, reconstitution assembly includes two deformation mechanisms being arranged symmetrically about longitudinally asymmetric face,
The structure of two deformation mechanisms is identical, two deformation mechanisms respectively with foreign steamer connector and central connector by revolute pair with
Body is connected, and can be realized vehicle with walking machine bucket wheel/shoe by the deformation of taking down the exhibits of two deformation mechanisms and is switched fast.
2. being fitted present invention employs modular design philosophy, it can be achieved that modularized production, reduces manufacturing cost and difficulty
Suitable large-scale promotion uses.
3. the configuration of the present invention is simple, embodiments thereof are simple, high reliablity, can be applied to Post disaster relief robot and quickly move
Motivation structure or other mobile mechanisms, work efficiency is high, easy to use.
Finally, it should be noted that above-described embodiments are merely to illustrate the technical scheme, rather than to it
Limitation；Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should understand that:
It can still modify to technical solution documented by previous embodiment, or to part of or all technical features into
Row equivalent replacement；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side
The range of case.
Claims (10)
1. a kind of restructural wheel of high rigidity/shoe deforms walking mechanism, it is characterised in that: it includes body, driving assembly, wheel group
Part and reconstitution assembly；
The body includes two symmetrically arranged foreign steamer units, and two foreign steamer units are mutually permanently connected composition by connector
Body, the plane of symmetry of two foreign steamer units is as face in transverse direction；
The driving component includes main shaft and the identical driving gear of two structures, and two driving gears are relative to face in transverse direction
It is arranged symmetrically；
The vehicle wheel component includes the identical internal gear of two structures, and two internal gears are arranged symmetrically relative to face in transverse direction, institute
It states internal gear and is connect with body by revolute pair, two driving gears are meshed with two internal gears respectively, the rotation band of main shaft
Dynamic two driving gears rotation, to drive the movement of two entire walking mechanisms of internal gear rotation realization；
The reconstitution assembly includes two deformation mechanisms being arranged symmetrically, and two deformation mechanisms pass through revolute pair with connector respectively
It is connected with body, the switching of vehicle with walking machine bucket wheel/shoe forms of motion can be realized by the deformation of taking down the exhibits of two deformation mechanisms.
2. the restructural wheel of high rigidity according to claim 1/shoe deforms walking mechanism, it is characterised in that: the connector
Including the first foreign steamer connector, the second foreign steamer connector and central connector, the first foreign steamer connector and described second
Foreign steamer connector is symmetrical arranged, and the planes of symmetry of two foreign steamer connectors is as face in longitudinal direction, the first foreign steamer connector and the
Two foreign steamer connectors are d at a distance from face in longitudinal direction, and the central connector passes through the center of the foreign steamer unit, two changes
Shape mechanism is arranged symmetrically relative to face in the longitudinal direction.
3. the restructural wheel of high rigidity according to claim 1/shoe deforms walking mechanism, it is characterised in that: the foreign steamer list
Member includes a body plate and two driven gears being arranged symmetrically about face in longitudinal direction, and the body plate is thin column knot
Structure, described two driven gears pass through revolute pair with body plate respectively and connect.
4. the restructural wheel of high rigidity according to claim 3/shoe deforms walking mechanism, it is characterised in that: the body plate
Radius be less than the internal gear profile radius, each driven gear is meshed with an internal gear respectively, to be interior
The rotation of gear provides support.
5. the restructural wheel of high rigidity according to claim 1/shoe deforms walking mechanism, it is characterised in that: the texturing machine
Structure includes swing rod support wheel branch, synchronising hinge branch and hydraulic stem branch；
The swing rod support wheel branch include a rolling support cylinder, the first Auxiliary support cylinder, the second Auxiliary support cylinder,
Two mutually isostructural swing rods, the first support cylindrical connection and the second support cylindrical connection, the second Auxiliary support circle
The length of column is greater than the length of the first Auxiliary support cylinder, and the first support cylindrical connection and the second support cylinder connect
Fitting with structure it is identical；
The both ends of the hydraulic stem branch open up the cylindrical hole parallel there are two axis respectively, and central connector is inserted into hydraulic stem branch
It is connected in the cylindrical hole of one end of chain and by revolute pair, forms the second support of revolute pair with the first Auxiliary support cylinder
Cylindrical connection is inserted into the cylindrical hole of another end of hydraulic stem branch and by revolute pair and hydraulic stem branch chain link；
The synchronising hinge branch include the first synchromesh gear bar, the second synchromesh gear bar and gear linkage, described first
The length of synchromesh gear bar is greater than the length of the second synchromesh gear bar, the first synchromesh gear bar and the second synchromesh gear
The body of rod of bar is cylindrical structure, and the gear end of the cylindrical structure is equipped with positive stop lug boss.
6. the restructural wheel of high rigidity according to claim 5/shoe deforms walking mechanism, it is characterised in that: described two pendulum
Bar is opened up respectively there are three cylindrical hole, and three cylindrical holes are respectively the first cylindrical hole, the second cylindrical hole and third cylindrical hole,
In the first cylindrical hole and the second cylinder axially bored line spacing be d1, the second cylindrical hole and third cylinder axially bored line spacing are d2, two swing rods
Position between each cylindrical hole corresponds to each other respectively；
Two swing rods are connect with the first support cylindrical connection by revolute pair by rolling support cylinder, the first support cylindrical connection
Both ends be inserted into respectively it is in first cylindrical hole of two swing rods and fixed；
First Auxiliary support cylinder is connect with the second support cylindrical connection by revolute pair, and the two of the second support cylindrical connection
End is inserted into the second cylindrical hole of two swing rods and fixed respectively；
Second Auxiliary support cylinder is connect with the first foreign steamer connector by revolute pair, and the both ends of the first foreign steamer connector are inserted respectively
Enter in the third cylindrical hole of two swing rods and fixed；
First support cylindrical connection, second support cylindrical connection and foreign steamer connector by two swing rods, a rolling branch
It holds round column and two Auxiliary support cylinders connects to form swing rod support wheel branch.
7. the restructural wheel of high rigidity according to claim 5/shoe deforms walking mechanism, it is characterised in that: described first is same
The gear end of step rack offers the axis cylindrical hole vertical with face of gear, and the other end of the first synchromesh gear bar opens up
There is the cylindrical hole parallel with its gear end cylinder axially bored line, the distance of the first synchromesh gear bar both ends cylindrical hole axis is
l1；
The gear end of the second synchromesh gear bar offers the axis cylindrical hole vertical with face of gear, the second synchromesh gear bar
The other end offers the cylindrical hole parallel with its gear end cylinder axially bored line, the second synchromesh gear bar both ends cylindrical hole axis away from
From for l2, l2Less than the profile radius of internal gear.
8. the restructural wheel of high rigidity according to claim 1/shoe deforms walking mechanism, it is characterised in that: the gear connects
Fitting is symmetrical structure, and the gear linkage two sides offer the cylindrical hole of two pairs of axis coincidence, and two pairs of two sides respectively
Cylindrical hole is to be arranged symmetrically, and the gear end cylindrical hole of the first synchromesh gear bar passes through with two cylindrical holes of gear linkage side
The cylindrical hole of revolute pair connection, the other end that the first support cylindrical connection is inserted into the first synchromesh gear bar is interior and passes through revolute pair
Connection, the gear end cylindrical hole of the second synchromesh gear bar and two cylindrical holes of the gear linkage other side are connected by revolute pair
It connects, central connector is inserted into the cylindrical hole of the other end of the second synchromesh gear bar and is connected by revolute pair, and the gear connects
Fitting two sides are respectively arranged with a positive stop lug boss, and the positive stop lug boss is for limiting synchromesh gear bar.
9. the restructural wheel of high rigidity according to claim 1/shoe deforms walking mechanism, it is characterised in that: by controlling liquid
The length of compression bar branch can be realized the expansion or gathering of reconstitution assembly, when two synchromesh gear bars of synchronising hinge branch are complete
When expansion, reconstitution assembly is in fully unfolded position, and the public section in bottom of the rolling support cylinder and internal gear is proper at this time
It is well horizontal plane, restructural wheel/shoe deformation walking mechanism can realize that crawler type is transported in the state that reconstitution assembly is fully deployed
It is dynamic.
10. the restructural wheel of high rigidity according to claim 9/shoe deforms walking mechanism, it is characterised in that: work as reconstitution assembly
When in fully unfolded position, the angle in face is α, the folder of synchronising hinge branch and hydraulic stem branch in hydraulic stem branch and longitudinal direction
Angle is β, the dimensions length relationship of each structure of deformation mechanism are as follows:
Internal gear profile radius RIt is interiorWith rolling support cylinder outer diameter RRollingSize relation are as follows:
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| CN201910014835.5A CN109703285A (en) | 2019-01-08 | 2019-01-08 | A kind of restructural wheel of high rigidity/shoe deformation walking mechanism |
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| CN201910014835.5A CN109703285A (en) | 2019-01-08 | 2019-01-08 | A kind of restructural wheel of high rigidity/shoe deformation walking mechanism |
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| CN110182272A (en) * | 2019-05-17 | 2019-08-30 | 西安理工大学 | A kind of crawler type triangle based on internal gear/circular deformation wheel mechanism |
| CN111216814A (en) * | 2020-02-18 | 2020-06-02 | 燕山大学 | Rocker slider type wheel-track form reconfigurable walking mechanism |
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