CN109747730A - A kind of automobile-used two-freedom numerical control wheel leg mechanism of plate - Google Patents
A kind of automobile-used two-freedom numerical control wheel leg mechanism of plate Download PDFInfo
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- CN109747730A CN109747730A CN201711081182.XA CN201711081182A CN109747730A CN 109747730 A CN109747730 A CN 109747730A CN 201711081182 A CN201711081182 A CN 201711081182A CN 109747730 A CN109747730 A CN 109747730A
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- 210000000245 forearm Anatomy 0.000 claims abstract description 23
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- 230000033001 locomotion Effects 0.000 abstract description 14
- 230000009194 climbing Effects 0.000 abstract description 8
- 238000005265 energy consumption Methods 0.000 abstract description 6
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- 230000000052 comparative effect Effects 0.000 description 7
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- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
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Abstract
A kind of automobile-used two-freedom numerical control wheel leg mechanism of plate includes main arm mechanism, forearm and wheel.Main arm mechanism is driven by rack-mounted servo electrical machinery system, under computer programming, principal arm can be made to realize that single-degree-of-freedom is swung, the forearm is connect by prismatic pair with principal arm, under percussion; forearm can axially move along principal arm, and the wheel is mounted on forearm, under computer programming control; pass through the coupled motions of principal arm and forearm; wheel can realize horizontal and vertical two-freedom movement, and then help wheel across obstacle, and flat car is made to have stronger obstacle climbing ability.The hydraulic system that the automobile-used two-freedom numerical control wheel leg mechanism of this kind of plate is used by link transmission instead of existing platform vehicle wheel leg mechanism, not only effectively increase reliability, and significantly reduce energy consumption, have the characteristics that intelligence degree is high, reconfigurable ability is strong, dynamic response is fast, is highly suitable for manufacture underloading flat car robot.
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 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 flat car majority not have obstacle climbing ability, is difficult to adapt to non-paved road hauling operation requirement, meanwhile, in harbour, harbour etc.
Also there are the obstacles such as deceleration strip on paved road, flat car is unavoidably impacted when passing through, therefore is difficult to meet dangerous
The hauling operation requirement of article；Secondly, although a small number of self-propelled flat cars have certain obstacle climbing ability, each wheel can be realized solely
Vertical control, but take turns leg mechanism because of it and be all made of hydraulic system driving, there is energy consumption height, poor reliability, maintenance are at high cost,
The problems such as oil accident easily occurs；In addition, existing flat car majority does not have re-configurability, the number of axle has generally been fixed after factory,
User is difficult to be reconstructed according to their own needs, recombinate.
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 plate, can be realized the two-freedom of wheel level, vertical direction
Flexible motion has high obstacle climbing ability, high mechanical efficiency, high reliability, high reconfigurable ability, low-maintenance cost of upkeep etc. excellent
Point can preferably meet the hauling operation of the extraordinary dangerous goods such as non-paved road, it has also become one, flat car field needs to solve
Engineering problem certainly.
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 plate, with preferable obstacle climbing ability
Under the premise of compared with high field adaptability, solve low existing platform vehicle wheel leg mechanism mechanical efficiency, high failure rate, maintenance at
This high problem, while having the characteristics that mechanism configuration is simple, easy programming control, manufacturing cost is low, reconfigurable ability is strong, can be compared with
The good hauling operation for meeting the extraordinary dangerous goods such as non-paved road.
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 plate includes main arm mechanism, forearm and wheel.
The main arm mechanism includes driving lever, connecting rod, principal arm, and the driving lever, connecting rod, principal arm and rack constitute four bar machines
Structure, described driving lever one end are connect by the first revolute pair with rack, and the driving lever other end passes through the second revolute pair and company
The connection of bar one end, the connecting rod other end are connect by third revolute pair with principal arm, and the principal arm passes through the 4th revolute pair and machine
Frame connection.
The driving lever is driven by rack-mounted servo electrical machinery system, the servo electrical machinery system by speed reducer,
Servo motor composition, the speed reducer output shaft connect with driving lever, the servo electrical machinery system in the case where computer programming controls,
Principal arm is driven to carry out single-degree-of-freedom oscillating motion around the 4th revolute pair.
The forearm is adopted with main arm mechanism to be connected serially, and described forearm one end is connect by prismatic pair with principal arm,
The forearm other end is connect by the 5th revolute pair with wheel, and under external percussion, forearm can be along the axial direction of principal arm
It moves back and forth, and then realizes the up and down motion of wheel, leaping over obstacles, the prismatic pair is driving pair, is driven by servo electric jar.
The wheel is under computer programming control, by the coupled motions of principal arm and forearm, wheel can realize it is horizontal and
Vertical two-freedom movement, compared with prior art, the beneficial effect is that: the automobile-used two-freedom numerical control wheel leg mechanism of this kind of plate
Because that wheel realization can be made horizontal and the movement of vertical direction two-freedom, the ability of wheel across obstacle is effectively increased, is made
Flat car using this kind underloading two-freedom numerical control wheel leg mechanism has stronger obstacle climbing ability and preferable place adaptability,
The hauling operation of extraordinary dangerous goods on the bad road surface such as non-paved road can preferably be met.
The automobile-used two-freedom numerical control wheel leg mechanism of this kind of plate uses five bar serial parallel mechanisms, compared with prior art,
The beneficial effect is that: the automobile-used two-freedom numerical control wheel leg mechanism of this kind of plate is by connecting rod tradition instead of in existing wheel leg mechanism
Hydraulic drive avoids high failure rate existing for existing wheel leg organization hydraulic pressure system, maintenance is at high cost, mechanical efficiency is low etc.
Reliability greatly improved in problem, reduces energy consumption；Main arm mechanism uses four-bar mechanism, and four-bar mechanism structure is simple, cost
It is low；Forearm and main arm mechanism not only have that structure is simple, wheel movement space is big using being connected in series, and obstacle climbing ability is strong, and
Rod piece quantity can be effectively reduced, the wheel leg mechanism kinematic degree of coupling is reduced, cost is reduced, convenient for the programming control of servo electrical machinery system
System, this kind is using the two-freedom numerical control wheel leg mechanism of five bar serial parallel mechanisms especially suitable for manufacturing light-duty multiaxis plate vehicle device
Device people.
The automobile-used two-freedom numerical control wheel leg mechanism main arm mechanism of this kind of plate drives using electric drive system, and existing
There is technology to compare, the beneficial effect is that: the automobile-used two-freedom numerical control wheel leg mechanism main arm mechanism element circuit system of this kind of plate,
Control unit, connection structure are simple, compared to the existing platform vehicle wheel leg mechanism using hydraulic system driving, not only avoid hydraulic
The problems such as system reliability is poor, energy consumption is high, maintenance is at high cost, and fluid pressure line restriction is avoided, it can be faster
It realizes multiple-unit reconfigurable control, forms multiaxis flat car, meet the fast transportation demand of different dimensions articles, effectively improve
Operating efficiency, reduces technical operation requirement.
Detailed description of the invention
Fig. 1 is the automobile-used two-freedom numerical control wheel leg structural scheme of mechanism of plate of the present invention.
Fig. 2 is the automobile-used two-freedom numerical control wheel leg mechanism pose adjustment pose schematic diagram of plate of the present invention.
Fig. 3 is the kinematic chain topological diagram of the automobile-used two-freedom numerical control wheel leg mechanism of plate of the present invention.
Fig. 4 is the principal arm kinematic chain schematic diagram of the automobile-used two-freedom numerical control wheel leg mechanism of plate of the present invention.
Fig. 5 is the electric drive system schematic diagram of the automobile-used two-freedom numerical control wheel leg mechanism of plate of the present invention.
Fig. 6 is that the two axis flat car planes of the present invention using the automobile-used two-freedom numerical control wheel leg mechanism of plate are illustrated
Figure.
Fig. 7 is that the two axis flat car three-dimensionals of the present invention using the automobile-used two-freedom numerical control wheel leg mechanism of plate are illustrated
Figure.
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, a kind of automobile-used two-freedom numerical control wheel leg mechanism of plate include main arm mechanism, forearm
8 and wheel 10.
Comparative diagram 1, Fig. 2, Fig. 3, Fig. 4, the main arm mechanism include driving lever 2, connecting rod 4, principal arm 6, the driving lever 2,
Connecting rod 4, principal arm 6 and rack 12 constitute four-bar mechanism, and described 2 one end of driving lever is connect by the first revolute pair 1 with rack 12, institute
It states 2 other end of driving lever to connect by the second revolute pair 3 with 4 one end of connecting rod, 4 other end of connecting rod passes through third revolute pair 5
It is connect with principal arm 6, the principal arm 6 is connect by the 4th revolute pair 7 with rack 12.
Comparative diagram 1, Fig. 5, the driving lever 2 are driven by rack-mounted servo electrical machinery system, the servo motor
System is made of speed reducer 14, servo motor 13, and 14 output shaft 15 of speed reducer is connect with driving lever 2, the servo motor
For system under computer programming control, driving principal arm 6 carries out single-degree-of-freedom oscillating motion around the 4th revolute pair 7.
Comparative diagram 1, Fig. 2, Fig. 3, Fig. 4, the forearm 8 is adopted with main arm mechanism to be connected serially, described 8 one end of forearm
It is connect by prismatic pair 9 with principal arm 6,8 other end of forearm is connect by the 5th revolute pair 11 with wheel 10, in external impact
Under effect, forearm 8 can be moved along the axial reciprocating of principal arm 6, and then realize the up and down motion of wheel 10, and leaping over obstacles is described
Prismatic pair 9 is driving pair, is driven by servo electric jar.
Comparative diagram 1, Fig. 6, Fig. 7, the wheel 10 are transported under computer programming control by the coupling of principal arm 6 and forearm 8
Dynamic, wheel 10 can realize horizontal and vertical two-freedom movement, compared with prior art, the beneficial effect is that: this kind of flat car
With two-freedom numerical control wheel leg mechanism because that wheel realization can be made horizontal and the movement of vertical direction two-freedom, vehicle is effectively increased
The ability for taking turns across obstacle enables have stronger obstacle detouring using the flat car of this kind underloading two-freedom numerical control wheel leg mechanism
Power and preferable place adaptability, the transport that can preferably meet extraordinary dangerous goods on the bad road surface such as non-paved road are made
Industry.
Comparative diagram 1, Fig. 2, Fig. 3, Fig. 4, it is series-parallel that the automobile-used two-freedom numerical control wheel leg mechanism of this kind of plate uses five bars
Mechanism, the automobile-used two-freedom numerical control wheel leg mechanism of this kind of plate is by connecting rod tradition instead of the hydraulic biography in existing wheel leg mechanism
It is dynamic, avoid high failure rate existing for existing wheel leg organization hydraulic pressure system, the problems such as maintenance is at high cost, mechanical efficiency is low,
Reliability greatly improved, reduce energy consumption；Main arm mechanism uses four-bar mechanism, and four-bar mechanism structure is simple, at low cost；Forearm
8 with main arm mechanism using being connected in series, not only have that structure is simple, wheel movement space is big, obstacle climbing ability is strong, and can have
Effect reduces rod piece quantity, reduces the wheel leg mechanism kinematic degree of coupling, reduces cost, should convenient for the programming Control of servo electrical machinery system
Kind is using the two-freedom numerical control wheel leg mechanism of five bar serial parallel mechanisms especially suitable for manufacturing light-duty multiaxis flat car robot.
Comparative diagram 6, Fig. 7, the automobile-used two-freedom numerical control wheel leg mechanism main arm mechanism of this kind of plate use electric transmission
System drive, compared with prior art, the beneficial effect is that: the automobile-used two-freedom numerical control wheel leg mechanism main arm mechanism of this kind of plate
Element circuit system, control unit, connection structure are simple, compared to using hydraulic system driving existing platform vehicle wheel leg mechanism,
The problems such as Hydraulic System Reliability is poor, energy consumption is high, maintenance is at high cost is not only avoided, and avoids fluid pressure line system
About, it can faster realize multiple-unit reconfigurable control, form multiaxis flat car, meet the quick fortune of different dimensions articles
Defeated demand, effectively increases operating efficiency, reduces technical operation requirement.
Claims (2)
1. a kind of automobile-used two-freedom numerical control wheel leg mechanism of plate includes main arm mechanism, forearm and wheel, it is characterised in that:
The main arm mechanism includes driving lever, connecting rod, principal arm, and the driving lever, connecting rod, principal arm and rack constitute four-bar mechanism,
Described driving lever one end is connect by the first revolute pair with rack, and the driving lever 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 principal arm, and the principal arm is connected by the 4th revolute pair and rack
It connects,
The forearm is adopted with main arm mechanism to be connected serially, and described forearm one end is connect by prismatic pair with principal arm, described
The forearm other end is connect by the 5th revolute pair with wheel.
2. the automobile-used two-freedom numerical control wheel leg mechanism of a kind of plate according to claim 1, it is characterised in that:
The prismatic pair is driving pair, is driven by servo electric jar, the driving lever is by rack-mounted servo motor system
System driving, the servo electrical machinery system are made of speed reducer, servo motor, and the speed reducer output shaft is connect with driving lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711081182.XA CN109747730A (en) | 2017-11-07 | 2017-11-07 | A kind of automobile-used two-freedom numerical control wheel leg mechanism of plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711081182.XA CN109747730A (en) | 2017-11-07 | 2017-11-07 | A kind of automobile-used two-freedom numerical control wheel leg mechanism of plate |
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| Publication Number | Publication Date |
|---|---|
| CN109747730A true CN109747730A (en) | 2019-05-14 |
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|---|---|---|---|
| CN201711081182.XA Pending CN109747730A (en) | 2017-11-07 | 2017-11-07 | A kind of automobile-used two-freedom numerical control wheel leg mechanism of plate |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112320609A (en) * | 2020-11-17 | 2021-02-05 | 中铁十一局集团第三工程有限公司 | Hoist and mount conveyer in class absorption formula tunnel |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2331542C1 (en) * | 2007-01-29 | 2008-08-20 | Юрий Михайлович Шмаков | Wheeled-walking vehicle |
| CN104015833A (en) * | 2014-06-23 | 2014-09-03 | 哈尔滨工业大学 | Robot walking leg mechanism with integration of wheel type, foot type and wheel-foot composite type |
| CN104176143A (en) * | 2014-08-09 | 2014-12-03 | 河北工业大学 | Wheeled mobile robot platform |
| CN106240669A (en) * | 2016-07-27 | 2016-12-21 | 江苏安格尔机器人有限公司 | Robot walking device |
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2017
- 2017-11-07 CN CN201711081182.XA patent/CN109747730A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2331542C1 (en) * | 2007-01-29 | 2008-08-20 | Юрий Михайлович Шмаков | Wheeled-walking vehicle |
| CN104015833A (en) * | 2014-06-23 | 2014-09-03 | 哈尔滨工业大学 | Robot walking leg mechanism with integration of wheel type, foot type and wheel-foot composite type |
| CN104176143A (en) * | 2014-08-09 | 2014-12-03 | 河北工业大学 | Wheeled mobile robot platform |
| CN106240669A (en) * | 2016-07-27 | 2016-12-21 | 江苏安格尔机器人有限公司 | Robot walking device |
Non-Patent Citations (1)
| Title |
|---|
| 黄荣舟 等: "轮腿式移动机器人的设计与研究", 《机械》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112320609A (en) * | 2020-11-17 | 2021-02-05 | 中铁十一局集团第三工程有限公司 | Hoist and mount conveyer in class absorption formula tunnel |
| CN112320609B (en) * | 2020-11-17 | 2023-04-07 | 中铁十一局集团第三工程有限公司 | Hoist and mount conveyer in class absorption formula tunnel |
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