CN109747729A - A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate - Google Patents
A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate Download PDFInfo
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- CN109747729A CN109747729A CN201711081181.5A CN201711081181A CN109747729A CN 109747729 A CN109747729 A CN 109747729A CN 201711081181 A CN201711081181 A CN 201711081181A CN 109747729 A CN109747729 A CN 109747729A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 59
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 210000000245 forearm Anatomy 0.000 claims abstract description 16
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000009194 climbing Effects 0.000 abstract description 5
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
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- 241000592274 Polypodium vulgare Species 0.000 description 5
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- 241000196324 Embryophyta Species 0.000 description 1
- 101000911390 Homo sapiens Coagulation factor VIII Proteins 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
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Abstract
A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate, it is designed using single closed loop plane-parallel type five-rod, include platform, the first driving lever, the second driving lever, connecting rod, forearm, by the servo electrical machinery system driving being mounted on platform, wheel is mounted on forearm, under computer programming, pass through the coupled motions of the automobile-used two-freedom numerical control wheel leg mechanism of this kind of high load plate, wheel can be made to realize two-freedom movement on horizontal and vertical direction, and then wheel across obstacle is helped, make flat car that there is stronger obstacle climbing ability；This kind of numerical control wheel leg mechanism is not only increased reliability, reduces energy consumption using link transmission instead of hydraulic system in the prior art, and avoids the constraint of hydraulic line, is reconfigured quickly convenient for modular；This kind of numerical control wheel leg mechanism is highly suitable for manufacturing heavy-duty bogie waggon robot due to having stronger bearing capacity compared to existing wheel leg mechanism using five-rod design in parallel.
Description
Technical field
The present invention relates to flat car field, especially a kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate.
Background technique
Flat car is a kind of engineering transportation vehicle for being mainly used to large-scale, the heavy non-dismountable cargo of handling, due to using
Highway transportation is not required to be laid with specific track, has the characteristics that at low cost, conevying efficiency is high, and than other kind of vehicle of same size
Type can load more cargos, therefore be widely used in airport, harbour, railway station, factory and bulk storage plant, and transported deeply
The favor of defeated unit.But during engineer application, there is also many engineering technology problems for existing flat car, firstly, existing
There is platform vehicle wheel leg mechanism majority using cascaded structure, reduces the rigidity of wheel leg mechanism, reduce the bearing capacity of flat car；
Secondly, although a small number of self-propelled flat cars have certain obstacle climbing ability, each wheel can realize independent control, but because of its wheel leg machine
Structure is all made of hydraulic system driving, and there is energy consumption height, poor reliability, maintenance are at high cost, Yi Fasheng oil accident etc. is asked
Topic；Again, existing flat car majority does not have re-configurability, and the number of axle has generally been fixed after factory, user be difficult according to oneself
It needs to be reconstructed, recombinate；In addition, existing flat car majority does not have obstacle climbing ability, it is difficult to adapt to non-paved road transport work
Industry requirement, meanwhile, also there are the obstacles such as deceleration strip on the paved roads such as harbour, harbour, flat car is inevitable when passing through
It is impacted, therefore is difficult to meet the hauling operation requirement of dangerous goods.
With using controllable mechanism as the development of the theory of mechanisms front subject of representative and the present computer technology, modern control
The modern technologies such as technology processed, robot are constantly progressive, and provide technical foundation for the greenization, intelligence, modularization of flat car,
How to propose a kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate, there is preferable bearing stability and load energy
Power can preferably meet the hauling operation of the extraordinary heavily loaded dangerous goods such as non-paved road, can be realized that wheel is horizontal, vertical side
To two-freedom flexible motion, have high obstacle climbing ability, high mechanical efficiency, high reliability, high reconfigurable ability, low-maintenance protect
Form this advantages that, it has also become the engineering problem of one urgent need to resolve in flat car field.
Summary of the invention
The object of the present invention is to provide a kind of automobile-used two-freedom numerical control wheel leg mechanisms of high load plate, have preferably more
Barrier ability and compared with high field under the premise of adaptability, solves that existing platform vehicle wheel leg mechanism mechanical efficiency is low, high failure rate, maintenance
The high problem of cost of upkeep, while there are the spies such as mechanism configuration is simple, easy programming controls, manufacturing cost is low, reconfigurable ability is strong
Point, and preferable bearing stability and load capacity can preferably meet the extraordinary heavily loaded dangerous goods such as non-paved road
Hauling operation.
The present invention reaches above-mentioned purpose by the following technical programs:
A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate is five bar two of plane that a kind of kinematic pair is revolute pair
Freedom degree mechanism, it is equal by the first driving lever, the second driving lever comprising platform, the first driving lever, the second driving lever, connecting rod, forearm
By control motor drive, power input is realized, wheel is mounted on numerical control wheel leg mechanism, encounters in traveling in flat car
When roadblock, by the controllable coupled motions of two-freedom of the automobile-used two-freedom numerical control wheel leg mechanism of this kind of high load plate, realize
The two-freedom flexibility controlled motion of wheel, and then complete obstacle detouring movement.
First driving lever one end is connect by the first revolute pair with platform, and the other end passes through the second revolute pair and connecting rod
One end connection, the connecting rod other end are connect by third revolute pair with forearm, and the forearm passes through the 4th revolute pair and second
The connection of driving lever one end, the second driving lever other end are connect by the 5th revolute pair with platform, and the wheel is mounted on small
On arm, first driving lever, the second driving lever are by control motor drive, control motor and its servo motor system
System is installed on platform, is mounted on the robot wheel leg on joint compared to control motor, is significantly reduced motional inertia, change
Dynamic performance has been apt to it, under computer programming control, according to real-time road, the numerical control wheel leg mechanism may be implemented two freely
Flexible controlled motion is spent, the wheel being mounted on forearm can realize two-freedom coupled motions output in horizontal and vertical direction,
And then realize various automobile-used two-freedom numerical control wheel leg mechanism obstacle detouring movements of high load plate.
The automobile-used two-freedom numerical control wheel leg mechanism of high load plate is using single closed loop parallel connection five-rod design, fortune
Dynamic chain forms a closed loop, revolute pair connection is all made of between each component, not only rod piece number is few, low cost, Er Qiexian
Work improves the rigidity of structure and bearing capacity, effectively reduces manufacturing cost, improves reliability, since each rod piece is easily dismantled
Replacement, repairing convenient for safeguarding.Compared to the platform vehicle wheel leg mechanism using cascaded structure, the design of single closed loop parallel connection five-rod makes
Flat car has better riding stability and load capacity, is more suitable for the transport of the extraordinary heavily loaded dangerous goods such as non-paved road
Job task.
Contain multiple connectors on the platform, the Modularized splice between platform and platform, shape are realized by connector
At polypody high load robot flat car, contained each five bars numerical control wheel leg mechanism in parallel under the control of the computer, is transported by coupling
Moving the movement such as can make polypody high load robot flat car maintenance level and complete leaping over obstacles.
Of the invention has the prominent advantages that:
1. the automobile-used two-freedom numerical control wheel leg mechanism of this kind of high load plate is designed using full revolute pair parallel connection five-rod, compare
Using the platform vehicle wheel leg mechanism of cascaded structure, not only rod piece number is few, low cost, and significantly improves numerical control wheel leg mechanism
The rigidity of structure and bearing capacity, make flat car have better riding stability and load capacity, be more suitable for non-paved road
Deng the hauling operation task of extraordinary heavily loaded dangerous goods.
2. the automobile-used two-freedom numerical control wheel leg mechanism of this kind of high load plate is by connecting rod tradition instead of existing wheel leg mechanism
In hydraulic drive, avoid that high failure rate existing for existing wheel leg organization hydraulic pressure system, maintenance be at high cost, mechanical efficiency
Reliability greatly improved in the problems such as low, reduces energy consumption；Since using five-rod design in parallel, each component is turned using complete
Dynamic secondary connection, significantly reduces manufacturing cost, improves reliability；This kind of numerical control wheel leg mechanism is led by rack-mounted two
Lever driving, control motor and its servo electrical machinery system are mounted on platform, the joint electricity used compared to existing wheel leg structure
Machine design, significantly reduces motional inertia, improves dynamic performance.
3. the automobile-used two-freedom numerical control wheel leg mechanism of this kind of high load plate is under the control of the computer, wheel can be made to realize
The movement of horizontal and vertical direction two-freedom, effectively increases the ability of wheel across obstacle, makes using this kind underloading two certainly
There is stronger obstacle climbing ability and preferable place adaptability by the flat car of degree digital control wheel leg mechanism, can preferably meet non-paving
Fill the hauling operation of the extraordinary dangerous goods such as road surface.
4. this kind of numerical control wheel leg mechanism kinematic degree of coupling is compared with using the existing main arm mechanism of cascaded structure design
Increase, but obtain better rigidity and bearing capacity, and five bar two-freedom mechanism programming Controls are relatively easy, not greatly
Width increases programming complexity, this kind is more suitable for manufacture weight using the numerical control wheel leg mechanism of full revolute pair parallel connection five-rod design
Type multiaxis flat car robot.In addition, being avoided compared to using the existing flat car of hydraulic system due to eliminating hydraulic system
Complicated pipeline connection, this kind of high load plate automobile-used two-freedom numerical control wheel leg mechanism have very strong reconfigurable ability,
The Modularized splice between platform and platform can be realized rapidly by connector, under computer programming control, can be realized more
The quick coupling of flat car module controls, and forms polypody high load robot flat car, the applicable model of flat car greatly improved
It encloses and application.
Detailed description of the invention
Fig. 1 is the automobile-used two-freedom numerical control wheel leg mechanism schematic three dimensional views of high load plate of the present invention.
Fig. 2 is the automobile-used two-freedom numerical control wheel leg mechanism floor map of high load plate of the present invention.
Fig. 3 is the forearm schematic diagram of the automobile-used two-freedom numerical control wheel leg mechanism of high load plate of the present invention.
Fig. 4 is the automobile-used two-freedom numerical control wheel leg structural scheme of mechanism of high load plate of the present invention.
Fig. 5 is the topology diagram of the automobile-used two-freedom numerical control wheel leg mechanism of high load plate of the present invention.
Fig. 6 is the four-footed flat car machine of the present invention using the automobile-used two-freedom numerical control wheel leg mechanism of high load plate
People's floor map.
Fig. 7 is the four-footed flat car machine of the present invention using the automobile-used two-freedom numerical control wheel leg mechanism of high load plate
People's schematic three dimensional views.
Specific embodiment
Technical solution of the present invention is described further below by way of drawings and examples.
Comparative diagram 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate are
A kind of kinematic pair is the five bar two-freedom mechanism of plane of revolute pair, includes platform 1, the first driving lever 3, the second driving lever
11, connecting rod 5, forearm 7 realize power input, vehicle by the first driving lever 3, the second driving lever 11 by control motor drive
Wheel 9 is mounted on numerical control wheel leg mechanism, when flat car encounters roadblock in traveling, certainly by this kind of high load plate automobile-used two
By the controllable coupled motions of two-freedom of degree digital control wheel leg mechanism, the two-freedom flexibility controlled motion of wheel 8 is realized, and then complete
It is acted at obstacle detouring.
Comparative diagram 1, Fig. 2, Fig. 3, described first driving lever, 3 one end are connect by the first revolute pair 2 with platform 1, the other end
It is connect by the second revolute pair 4 with 5 one end of connecting rod, 5 other end of connecting rod is connect by third revolute pair 6 with forearm 7, described
Forearm 7 is connect by the 4th revolute pair 10 with 11 one end of the second driving lever, and 11 other end of the second driving lever passes through the 5th turn
Dynamic pair 12 is connect with platform 1, and the wheel 8 is mounted on forearm 7, and first driving lever 3, the second driving lever 11 are by control
With motor drive, control motor and its servo electrical machinery system are respectively mounted on the platform 1, are mounted on compared to control motor
Robot wheel leg on joint, significantly reduces motional inertia, improves dynamic performance, under computer programming control, root
According to real-time road, two-freedom flexibility controlled motion is may be implemented in the numerical control wheel leg mechanism, and the wheel 8 being mounted on forearm can
Two-freedom coupled motions output is realized in horizontal and vertical direction, and then realizes various automobile-used two-freedoms of high load plate
The movement of numerical control wheel leg mechanism obstacle detouring.
Comparative diagram 4, Fig. 5, Fig. 6, the automobile-used two-freedom numerical control wheel leg mechanism of high load plate are in parallel using single closed loop
Five-rod design, kinematic chain form a closed loop, revolute pair connection are all made of between each component, not only rod piece number
It is few, low cost, and the rigidity of structure and bearing capacity are significantly improved, manufacturing cost is effectively reduced, reliability is improved, by
In each rod piece easily dismounting and change, repairing convenient for safeguarding.Compared to the platform vehicle wheel leg mechanism using cascaded structure, single closed loop is in parallel
The design of five-rod makes flat car have better riding stability and load capacity, is more suitable for the extraordinary weight such as non-paved road
Carry the hauling operation task of dangerous goods.
Comparative diagram 2, Fig. 4, Fig. 6, Fig. 7 contain multiple connectors 9 on the platform 1, by connector 9 realize platform with
Modularized splice between platform, forms polypody high load robot flat car, and contained each five bars numerical control wheel leg mechanism in parallel exists
Under computer control, polypody high load robot flat car maintenance level can be made by coupled motions and complete leaping over obstacles etc.
Movement.
Claims (2)
1. a kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate, it is characterised in that: be a kind of kinematic pair be rotation
Secondary five bar two-freedom mechanism of plane includes platform, the first driving lever, the second driving lever, connecting rod, forearm, by the first active
Bar, the second driving lever realize power input, wheel is mounted on this kind of high load plate automobile-used two by control motor drive
In freedom degree numerical control wheel leg mechanism, controllably coupled by the two-freedom of the automobile-used two-freedom numerical control wheel leg mechanism of high load plate
Wheel two-freedom controlled motion, and then leaping over obstacles are realized in movement.
2. the automobile-used two-freedom numerical control wheel leg mechanism of high load plate according to claim 1, it is characterised in that: described
One driving lever one end is connect by the first revolute pair with platform, and the other end is connect by the second revolute pair with connecting rod one end, described
The connecting rod other end is connect by third revolute pair with forearm, and the forearm is connected by the 4th revolute pair and second driving lever one end
It connects, the second driving lever other end is connect by the 5th revolute pair with platform, wheel is installed on the forearm, on the platform
Containing multiple connectors, the Modularized splice between platform and platform is realized by connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711081181.5A CN109747729A (en) | 2017-11-07 | 2017-11-07 | A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711081181.5A CN109747729A (en) | 2017-11-07 | 2017-11-07 | A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate |
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| CN109747729A true CN109747729A (en) | 2019-05-14 |
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| CN201711081181.5A Pending CN109747729A (en) | 2017-11-07 | 2017-11-07 | A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267989A (en) * | 2020-03-18 | 2020-06-12 | 腾讯科技（深圳）有限公司 | Wheel-foot type mobile platform and wheel-foot type mobile robot |
| CN111776106A (en) * | 2020-08-12 | 2020-10-16 | 腾讯科技（深圳）有限公司 | Mechanical leg and wheel type mobile equipment |
| CN113086047A (en) * | 2021-04-06 | 2021-07-09 | 哈尔滨工业大学 | Multi-terrain detection vehicle |
| CN113978567A (en) * | 2021-12-08 | 2022-01-28 | 哈尔滨工业大学 | Large-load double-wheel foot type structure |
| CN115848527A (en) * | 2022-11-23 | 2023-03-28 | 哈尔滨工程大学 | Wheel leg balance robot with double-shaft holder and working method |
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| CN115848527A (en) * | 2022-11-23 | 2023-03-28 | 哈尔滨工程大学 | Wheel leg balance robot with double-shaft holder and working method |
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