CN109774810A - A kind of wheel leg converting means based on Electromagnetic Control Yu space inverse cam - Google Patents
A kind of wheel leg converting means based on Electromagnetic Control Yu space inverse cam Download PDFInfo
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- CN109774810A CN109774810A CN201910052188.7A CN201910052188A CN109774810A CN 109774810 A CN109774810 A CN 109774810A CN 201910052188 A CN201910052188 A CN 201910052188A CN 109774810 A CN109774810 A CN 109774810A
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- wheel
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- cylindrical cam
- swivel mount
- leg
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Abstract
The present invention relates to mobile robot fields.Technical solution is: a kind of wheel leg converting means based on Electromagnetic Control Yu space inverse cam, it is characterised in that: the device includes the swivel mount being rotatably positioned on bearing block by central axis, three leaf expanding wheels being arranged in swivel mount by installation axle respectively and the wheel leg mapping device for driving leaf expanding wheel rotation；The leaf expanding wheel includes arc shaped blade, is rotatably positioned cylindrical cam on the mounting shaft and connects the connecting rod of arc shaped blade and cylindrical cam；The wheel leg mapping device includes the sliding groove being arranged on cylindrical cam, the support frame being slidably located in swivel mount, three supporting rollers for being rotatably positioned on support frame outer circumference surface and being respectively embedded into each cylindrical cam sliding groove and the driving structure for driving support frame to slide.The device should have the characteristics that manufacturing cost is low, control is simple, dynamic property is good, required driving is few.
Description
Technical field
The present invention relates to mobile robot field, specifically a kind of wheel leg based on the anti-cylindrical cam of Electromagnetic Control and space
Converting means.
Background technique
Wheeled robot movement velocity is fast, and passability is good in smooth environment, runs smoothly, but suitable for complex environment
Answering property is poor.Legged mobile robot obstacle performance is good, good in face of unknown bad border adaptability, more flexibly and small to ground destructiveness,
But structure is complicated for legged mobile robot, control is difficult, and speed is slow.Compared to general mobile robot moving structure, wheel leg type is moved
It is fast that mobile robot has both the advantages of wheeled formula with leg good, strong environmental adaptability of obstacle performance, travel speed.Therefore wheel leg type machine
Structure is more and more extensive in mobile robot field application and research as the moving structure of mobile robot.The field of concrete application
It is related to earthquake rescue, field detection, pipeline inspection etc..
In unstructured moving grids, mobile robot needs the mobile mechanism that a kind of movement speed is fast and obstacle climbing ability is good.
Wheel leg type structure have both wheeled construction movement speed is fast and the strong environmental adaptability of legged mobile robot.Therefore, it has both wheeled
It is researched and developed with the wheel leg type mechanism of leg formula advantage.Wherein, wheel leg mapping device is wherein important one kind, has very high work
Journey application value.
In the Invention Announce patent of existing wheel leg mapping device (such as CN 107323562A, CN 103142361B),
There are the characteristics that structure is complicated, manufacturing cost is high, need that driving number is excessive, control is complicated, bad dynamic performance.It is therefore proposed that
The wheel leg mapping device that a kind of manufacturing cost is low, control is simple, dynamic property is good, required driving is few is necessary.
Summary of the invention
The purpose of the present invention is overcoming the shortcomings of in above-mentioned background technique, provide it is a kind of based on Electromagnetic Control with space is counter justifies
The wheel leg converting means of column cam, the device should have that manufacturing cost is low, control is simple, dynamic property is good, required driving is few
Feature.
The technical scheme is that
A kind of wheel leg converting means based on Electromagnetic Control Yu space inverse cam, it is characterised in that: the device includes passing through
Three leaf exhibitions that central axis is rotatably positioned swivel mount on bearing block, is arranged in respectively by installation axle in swivel mount
Open wheel and the wheel leg mapping device for driving leaf expanding wheel rotation；
The leaf expanding wheel includes arc shaped blade, is rotatably positioned cylindrical cam on the mounting shaft and connects arc
The connecting rod of shape blade and cylindrical cam；
The wheel leg mapping device includes the sliding groove being arranged on cylindrical cam, is slidably located in swivel mount
Support frame, three supporting rollers for being rotatably positioned on support frame outer circumference surface and being respectively embedded into each cylindrical cam sliding groove
And the driving structure for driving support frame to slide；
The swivel mount includes two side wheels (5) and two being fixed at a distance on central axis (14) each other
End is respectively positioned on two side wheels and is parallel to the installation axle of center shaft axis；Three installation axles are evenly distributed on central axis week
It encloses, support frame as described above is slidably located on central axis；
The glide direction of the pivot center of the swivel mount, the pivot center of cylindrical cam and support frame is parallel to each other, with
Pivot center of the pivot center of driving wheel perpendicular to swivel mount；Support frame as described above can drive the synchronous rotation of three cylindrical cams when sliding
Turn, so that leaf expanding wheel is converted between wheel topology and leg shape structure.
The driving structure includes two permanent magnets for being fixed on support frame glide direction two sides, applies in parallel to support frame
In two phase propulsive thrust of glide direction two springs and be fixed on swivel mount one end and permanent magnet cooperation electromagnet.
The installation axle is rotatably positioned in side wheel, and cylindrical cam is coaxially fixed with installation axle.
The electromagnet is fixed with one of side wheel；Described two springs wear on center shaft and are separately positioned on
Between side wheel and permanent magnet.
The position limiting structure for preventing support frame from rotating is additionally provided in the wheel leg mapping device；The position limiting structure includes
Both ends fixed respectively with two side wheels and be parallel to support frame glide direction sliding rail and setting on the support frame with sliding rail
The sliding block of cooperation.
When the electromagnet no power, support frame is located at the middle part of central axis, and three leaf expanding wheels are combined into circular
Wheel topology；When the electromagnet is powered, support frame is subjected to displacement to drive cylindrical cam, and three leaf expanding wheels are combined into
There are three the leg shape structures of supporting leg for tool.
The beneficial effects of the present invention are:
A kind of wheel leg converting means proposed by the present invention, can be realized the transformation of wheel topology Yu leg shape structure, has both
Wheeled robot level land passage capacity is good, speed is fast, run smoothly the advantage good with the obstacle performance of legged mobile robot；Using can
It adjusts electromagnet to carry out wheel leg transformation control, the use of motor, and Remote Non-touch is reduced compared with conventional transformation mode
Control transformation can guarantee that control section can greatly reduce the quality of wheel leg converting means loaded on body completely, to dynamic
Characteristic has larger improvement, improves load capacity；Using the structure of anti-cylindrical cam, leaf is converted by the straight-line displacement of support frame
The angular displacement of shape expanding wheel, and there is linear corresponding relationship with angular displacement in straight-line displacement, enormously simplify control difficulty.
Detailed description of the invention
Fig. 1 is one of axonometric drawing of the invention.
Fig. 2 is the two of axonometric drawing of the invention.
Fig. 3 is three (omitting a leaf expanding wheel) of axonometric drawing of the invention.
Fig. 4 is schematic view of the front view of the invention (omitting a leaf expanding wheel).
Fig. 5 is one of left view structural representation of the invention (wheel topology).
Fig. 6 is two (leg shape structures) of left view structural representation of the invention.
Fig. 7 is the schematic diagram of driving structure and position limiting structure in the present invention.
Fig. 8 is the schematic perspective view of leaf expanding wheel in the present invention.
Fig. 9 is the three-dimensional enlarged structure schematic diagram of position limiting structure in the present invention.
Figure 10 is the schematic perspective view of side wheel in the present invention.
Figure 11 is the assembling schematic diagram of part of the present invention.
Specific embodiment
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited to following embodiments.
A kind of wheel leg converting means based on Electromagnetic Control Yu space inverse cam, including bearing block 3, swivel mount, three leaves
Shape expanding wheel 1 and wheel leg mapping device.
The swivel mount includes the central axis 14 being rotatably positioned on bearing block, fixes at a distance each other
Two side wheels 5 and both ends are respectively positioned at three installation axles 6 on two side wheels on center shaft；The central axis and installation
For axis each parallel to the pivot center (pivot center that the pivot center of side wheel is center axis) of side wheel, central axis and side wheel are coaxially solid
Fixed, installation axle is evenly distributed on around central axis；The both ends of installation axle are also rotatably positioned by bearing 16 in side wheel respectively
In, bearing end is also equipped with end ring 12.
The side wheel is by the axle sleeve 2.1 in the middle part of it fixed (being fixed by the radial screw for passing through axle sleeve) in central axis
On；The axle sleeve of one of side wheel also axially extends to the outside of bearing block, and production has keyway 2.2, (passes through for connecting
Shaft coupling) external impetus progress torque transmitting, drive entire swivel mount to rotate.The central axis is that both ends set threaded ladder
Axis, the outer diameter of central axis end are less than the outer diameter in the middle part of central axis, and the both ends of central axis also extend through side wheel and by locking nut 4
Side wheel is fixed.
The three leaf expanding wheel 1 is arranged in swivel mount, and each leaf expanding wheel includes arc shaped blade 1.1, cylinder
Cam 1.2 and connecting rod 1.3.The cylindrical cam be equipped with for installation axle intert axis hole (being omitted in figure), cylindrical cam with
Installation axle coaxially fixes (being preferably connected by key), so that cylindrical cam is rotatably positioned in two side wheels, cylindrical cam
Outer circumference surface on be also formed with sliding groove 1.4.One end of the connecting rod is fixed with cylindrical cam, in the other end and arc shaped blade
The middle part of cambered surface is fixed.
The wheel leg mapping device is for driving leaf expanding wheel to rotate, so that leaf expanding wheel is in wheel topology and leg shape
It is converted between structure.The wheel leg mapping device includes the sliding groove being arranged on cylindrical cam, is slidably located in rotation
Support frame 9 on frame (specifically in swivel mount central axis), three be rotatably positioned on support frame outer circumference surface are servo-actuated
Wheel 13, the driving structure for driving support frame to slide along central axis and the limit for preventing support frame around center axis rotation
Structure.
The supporting roller is rotatably positioned by bearing in one end of supporting roller wheel shaft, and an insertion cylindrical cam is sliding
In dynamic slot, the pivot center of the pivot center of supporting roller perpendicular to swivel mount；The other end production of supporting roller wheel shaft has external screw thread,
It is tightened in the screw hole of support frame outer circumference surface that (as seen from the figure: altogether there are three supporting roller wheel shaft, supporting roller axle axis exists two-by-two
It is arranged on the cross section of support frame in 180 degree).The matching relationship of the supporting roller and cylindrical cam is the anti-cylindrical cam in space
Pair can drive cylindrical cam and then make three leaf expanding wheel synchronous rotary when driving structure pushes support frame sliding.
The driving structure includes the permanent magnet 8 for being fixed on support frame two sides, two springs 7 for applying thrust to support frame
And the electromagnet 2 fixed with one of side wheel.
The two sides of support frame glide direction are arranged in two permanent magnets, and (it is sliding that two permanent magnets are fixed by screws in support frame
On two end faces in shaft line direction), permanent magnet should ensure that the correspondence of magnetic pole spatially when installing, so that magnetic induction line is closed,
Avoid magnetic force cancellation.The spring wears on center shaft and is separately positioned between side wheel and permanent magnet, and spring is to support
Frame, which is applied with, is parallel to glide direction and two contrary thrusts.The electromagnet is the annular electromagnetism by external power supply
Iron can provide size variable magnetic field, and electromagnet cooperates the position of adjustment support frame on center shaft by permanent magnet.
The position limiting structure includes that the sliding rail 11 for being fixed in two side wheels and being parallel to central axis and setting are being propped up
The sliding block 15 cooperated on support with sliding rail；As seen from the figure: sliding block is fixed on support frame outer circumference surface, is located at two supporting roller wheels
Position between axis.
The working principle of the invention is:
External impetus drives swivel mount and leaf expanding wheel to rotate by side wheel, drives robot motion；When needs are flat
When whole ground handling, the present invention is converted to wheel topology；Electromagnet no power at this time, support frame are the next in the press of two lateral springs
In the medium position (support frame keeps equilbrium position under magnetic force and acting force of the spring) of central axis, three leaf expansion
Wheel is combined into circular wheel topology (as shown in figure 5, blade encloses circular profile), and it is good logical to guarantee that robot has
The property crossed；When encountering barrier, if continue keep wheel topology possibly can not obstacle detouring, make electromagnet be powered generate magnetic field to
Pushing support frame along center axial displacement a distance, (movement of support frame has been broken in magnetic force and acting force of the spring
Balance), so that leaf expanding wheel be forced to rotate by a certain angle (as shown in Figure 6), an end of blade be unfolded outward as with
The supporting leg of ground face contact, three leaf expanding wheels are combined into tool, and there are three the leg shape structures of supporting leg, to ensure that multiple
The ability of miscellaneous floor traffic.
Claims (5)
1. a kind of wheel leg converting means based on Electromagnetic Control Yu space inverse cam, it is characterised in that: the device includes in passing through
Mandrel (14) be rotatably positioned swivel mount on bearing block (3), be arranged in respectively by installation axle (6) in swivel mount three
A leaf expanding wheel (1) and wheel leg mapping device for driving the rotation of leaf expanding wheel；
The leaf expanding wheel include arc shaped blade (1.1), be rotatably positioned cylindrical cam (1.2) on the mounting shaft and
Connect the connecting rod (1.3) of arc shaped blade and cylindrical cam；
The wheel leg mapping device includes the sliding groove (1.4) being arranged on cylindrical cam, is slidably located in swivel mount
Support frame (9), be rotatably positioned on support frame outer circumference surface and be respectively embedded into three in each cylindrical cam sliding groove
Supporting roller (13) and for drive support frame slide driving structure；
The swivel mount includes two side wheels (5) being fixed at a distance on central axis (14) each other and both ends point
The installation axle of center shaft axis is not located on two side wheels and is parallel to；Three installation axles are evenly distributed on around central axis,
Support frame as described above is slidably located on central axis；
The glide direction of the pivot center of the swivel mount, the pivot center of cylindrical cam and support frame is parallel to each other, supporting roller
Pivot center perpendicular to swivel mount pivot center；Support frame as described above can drive three cylindrical cam synchronous rotaries when sliding,
So that leaf expanding wheel is converted between wheel topology and leg shape structure.
The driving structure includes two permanent magnets (8) for being fixed on support frame glide direction two sides, applies in parallel to support frame
In two phase propulsive thrust of glide direction two springs (7) and be fixed on swivel mount one end and permanent magnet cooperation electromagnet
(2)。
2. a kind of wheel leg converting means based on Electromagnetic Control Yu space inverse cam according to claim 1, feature exist
In: the installation axle is rotatably positioned in side wheel, and cylindrical cam is coaxially fixed with installation axle.
3. a kind of wheel leg converting means based on Electromagnetic Control Yu space inverse cam according to claim 2, feature exist
In: the electromagnet is fixed with one of side wheel；Described two springs wear on center shaft and are separately positioned on side wheel
Between permanent magnet.
4. a kind of wheel leg converting means based on Electromagnetic Control Yu space inverse cam according to claim 3, feature exist
In: the position limiting structure for preventing support frame from rotating is additionally provided in the wheel leg mapping device；The position limiting structure includes both ends
Fixed respectively with two side wheels and be parallel to support frame glide direction sliding rail (11) and setting on the support frame with sliding rail
The sliding block (15) of cooperation.
5. a kind of wheel leg converting means based on Electromagnetic Control Yu space inverse cam according to claim 4, feature exist
In: when the electromagnet no power, support frame is located at the middle part of central axis, and three leaf expanding wheels are combined into circular wheel shape knot
Structure；When the electromagnet is powered, support frame is subjected to displacement to drive cylindrical cam, and three leaf expanding wheels are combined into three
The leg shape structure of a supporting leg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910052188.7A CN109774810B (en) | 2019-01-21 | 2019-01-21 | Wheel leg conversion device based on electromagnetic control and space reverse cam |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910052188.7A CN109774810B (en) | 2019-01-21 | 2019-01-21 | Wheel leg conversion device based on electromagnetic control and space reverse cam |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109774810A true CN109774810A (en) | 2019-05-21 |
| CN109774810B CN109774810B (en) | 2023-09-29 |
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ID=66501714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910052188.7A Active CN109774810B (en) | 2019-01-21 | 2019-01-21 | Wheel leg conversion device based on electromagnetic control and space reverse cam |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109774810B (en) |
Citations (8)
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|---|---|---|---|---|
| US20020035881A1 (en) * | 2000-06-26 | 2002-03-28 | Heizaburo Kato | Cam apparatus and pick and place apparatus utilizing the same |
| CN102350917A (en) * | 2011-07-27 | 2012-02-15 | 中国科学院深圳先进技术研究院 | Folding combined obstacle detouring wheel |
| CN103407511A (en) * | 2013-07-08 | 2013-11-27 | 北京林业大学 | Small-sized wheel leg combined type movable obstacle-crossing mechanism in forest |
| KR20150142784A (en) * | 2014-06-11 | 2015-12-23 | 한밭대학교 산학협력단 | Wheel-Leg Assembly For Transformable |
| CN105774394A (en) * | 2016-04-08 | 2016-07-20 | 重庆大学 | Mobile robot with deformation wheels |
| CN106004233A (en) * | 2016-06-23 | 2016-10-12 | 江苏振发控股集团有限公司 | Wheel for amphibious vehicle |
| CN107161232A (en) * | 2017-06-07 | 2017-09-15 | 宋天钰 | It is a kind of that there is the mobile barrier-surpassing robot for taking turns leg converting means |
| CN107878582A (en) * | 2016-09-30 | 2018-04-06 | 中国兵器工业计算机应用技术研究所 | Become row land battle car |
-
2019
- 2019-01-21 CN CN201910052188.7A patent/CN109774810B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020035881A1 (en) * | 2000-06-26 | 2002-03-28 | Heizaburo Kato | Cam apparatus and pick and place apparatus utilizing the same |
| CN102350917A (en) * | 2011-07-27 | 2012-02-15 | 中国科学院深圳先进技术研究院 | Folding combined obstacle detouring wheel |
| CN103407511A (en) * | 2013-07-08 | 2013-11-27 | 北京林业大学 | Small-sized wheel leg combined type movable obstacle-crossing mechanism in forest |
| KR20150142784A (en) * | 2014-06-11 | 2015-12-23 | 한밭대학교 산학협력단 | Wheel-Leg Assembly For Transformable |
| CN105774394A (en) * | 2016-04-08 | 2016-07-20 | 重庆大学 | Mobile robot with deformation wheels |
| CN106004233A (en) * | 2016-06-23 | 2016-10-12 | 江苏振发控股集团有限公司 | Wheel for amphibious vehicle |
| CN107878582A (en) * | 2016-09-30 | 2018-04-06 | 中国兵器工业计算机应用技术研究所 | Become row land battle car |
| CN107161232A (en) * | 2017-06-07 | 2017-09-15 | 宋天钰 | It is a kind of that there is the mobile barrier-surpassing robot for taking turns leg converting means |
Non-Patent Citations (1)
| Title |
|---|
| 叶伟: "一种可整周回转的新型3T1R并联机构运动学分析", 《机械工程学报》, vol. 54, no. 11, pages 151 - 159 * |
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| CN109774810B (en) | 2023-09-29 |
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