CN110371206A - A kind of six-wheel mobile robot multi link walking mechanism - Google Patents
A kind of six-wheel mobile robot multi link walking mechanism Download PDFInfo
- Publication number
- CN110371206A CN110371206A CN201910746110.5A CN201910746110A CN110371206A CN 110371206 A CN110371206 A CN 110371206A CN 201910746110 A CN201910746110 A CN 201910746110A CN 110371206 A CN110371206 A CN 110371206A
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- China
- Prior art keywords
- car body
- wheel
- connecting shaft
- rocking bar
- bar
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of six-wheel mobile robot multi link walking mechanisms, including car body, the two sides of the car body are symmetrically arranged with double rocking lever planetary gear structure and single rocking bar rear car wheel construction, the double rocking lever planetary gear structure includes connecting shaft before car body, connecting shaft in car body, preceding rocking bar, middle rocking bar, front bar axis, middle bar axis, trapezoidal connecting rod, front vehicle wheel and middle wheel, connecting shaft and car body are rotatablely connected in connecting shaft and car body before the car body, connecting shaft is fixedly connected with the upper end of the upper end of preceding rocking bar and middle rocking bar respectively in connecting shaft and car body before the car body, the lower end of the preceding rocking bar is connected by front bar axis with trapezoidal connecting rod, the lower end of the middle rocking bar is connected by middle bar axis with trapezoidal connecting rod, the lower part both ends of the trapezoidal connecting rod are respectively equipped with front vehicle wheel and middle wheel.The present invention has the good obstacle performance of tool and structural behaviour, can increase substantially the obstacle clearing capability of mobile robot, can adapt to complicated outdoor road surface environment.
Description
Technical field
The invention belongs to six-wheel mobile robot technical fields, and in particular to a kind of obstacle climbing ability is strong, stability is high six
Wheel mobile robot multi link walking mechanism.
Background technique
Demand of the fast development of industry to human resources is more and more, and the problem of an aging population is more tight since 21 century
Weight, human resources become shortage.Mobile robot can free the mankind from complicated manual labor, be effectively relieved
Human resources shortage problem, obtains fast development.Mobile robot is applied widely in numerous areas now, example
Such as security protection inspection, logistics transportation, rescue and relief work.Mobile robot provides huge power with for social development.
Mobile robot is to integrate the integrated system of mechanization, automation and intelligence.Mobile robot is mainly divided
For wheeled mobile robot, caterpillar mobile robot and sufficient formula mobile robot, and wheeled mobile robot is by structure letter
Single, easy to control, maneuverability, the features such as work efficiency is high, are applied widely on various occasions.Wheeled mobile robot
Road surface is relatively flat when running indoors, lower to obstacle performance requirement, however as mobile robot outdoor work demand
Increase, such as security protection inspection, logistics transportation, to the obstacle performance of wheeled mobile robot, more stringent requirements are proposed.State at present
Inside and outside researchers the obstacle climbing ability for improving wheeled mobile robot have been carried out the research work of part, but designed
Wheeled mobile robot walking mechanism it is complex, obstacle clearing capability is relatively low, and the stability of wheeled mobile robot is poor, no
It can satisfy the obstacle detouring demand of outdoor rough ground.
Summary of the invention
To solve the above-mentioned problems in the prior art, the present invention provides a kind of six-wheel mobile robot multi link rows
Walk mechanism.
Technical scheme is as follows: a kind of six-wheel mobile robot multi link walking mechanism, including car body, the vehicle
The two sides of body are symmetrically arranged with double rocking lever planetary gear structure and single rocking bar rear car wheel construction, and the double rocking lever planetary gear structure includes vehicle
Connecting shaft before body, connecting shaft, preceding rocking bar, middle rocking bar, front bar axis, middle bar axis, trapezoidal connecting rod, front vehicle wheel and middle wheel in car body,
Connecting shaft and car body are rotatablely connected in connecting shaft and car body before the car body, connecting shaft point in connecting shaft and car body before the car body
It is not fixedly connected with the upper end of the upper end of preceding rocking bar and middle rocking bar, the lower end of the preceding rocking bar passes through front bar axis and trapezoidal connecting rod phase
Connection, the lower end of the middle rocking bar are connected by middle bar axis with trapezoidal connecting rod, and the lower part both ends of the trapezoidal connecting rod are set respectively
There are front vehicle wheel and middle wheel.
The list rocking bar rear car wheel construction includes connecting shaft after car body, rear rocking bar and rear wheel, connecting shaft after the car body
It is rotatablely connected with car body, connecting shaft is fixedly connected with rear rocking bar after the car body, and the lower end of the rear rocking bar is equipped with rear wheel.
Connecting shaft is multi-diameter shaft after the car body, the both ends of connecting shaft have screw thread after the car body.
Both sides above the car body are symmetrically arranged with two pieces of sidings, and rubber block is embedded in the siding, the siding
Inside and outside be symmetrically arranged with body inner side block and car body outside stopper, the body inner side block and car body outside stopper clamp
Rubber block, connecting shaft passes through rubber block after the car body.
Connecting shaft passes through siding after the car body, and connecting shaft is arranged with car body close to one end of body inner side after the car body
Connecting shaft sleeve afterwards, connecting shaft sleeve carries out axial restraint by nut after the car body.
Both sides above the car body are symmetrically arranged with two pieces of sidings, and the siding is equipped with rolling bearing pedestal, the rolling
Rolling bearing on the outside of car body connecting shaft inside rolling bearing and car body connecting shaft, the car body connection are installed in bearing mounting base
Rolling bearing is carried out axial by body inner side cover board and car body balustrade deching on the outside of axis inside rolling bearing and car body connecting shaft
Fixed, the body inner side cover board and car body balustrade deching are fixed on siding by screw bolt and nut.
The front bar axis and middle bar axis use stepped shaft structure, and the both ends of the front bar axis and middle bar axis have screw thread.
The lower part both ends of the trapezoidal connecting rod are provided with wheel and stretch out shaft mounting hole, and the front vehicle wheel and middle wheel are equipped with wheel
Projecting shaft, the wheel projecting shaft pass through wheel and stretch out shaft mounting hole, and the wheel projecting shaft has screw thread, the trapezoidal connecting rod
By wheel projecting shaft, gasket, hexagonal flange nut is connect with front vehicle wheel and middle wheel.
The lower end of the preceding rocking bar and middle rocking bar is embedded with bar axis rolling bearing, and the front bar axis and middle bar axis pass through bar axis
Rolling bearing.
The outside of the bar axis rolling bearing is equipped with retaining ring, and the retaining ring shakes before being fixedly connected on by screw bolt and nut
Bar, on middle rocking bar, the retaining ring carries out axial restraint to bar axis rolling bearing.
The invention has the following advantages: six-wheel mobile robot multi link walking mechanism can pass through outdoor complexity
Road environment can cross the obstacle compared with big height.In mobile robot driving process, wheel contacts ground always, increases
The adhesive force of mobile robot and ground can travel for mobile robot and provide very strong driving force, also ensure that wheel does not dally
To save battery power.Double rocking lever planetary gear structure can change with the change of road surface landform, improve moving machine
The riding stability of device people.The using of rubber block make robot in potted road surface suffered vibration is slowed down when driving,
It protects mobile robot internal precision component not damaged, mobile robot is worked normally, moving machine is improved
The safety of device people traveling.The double rocking lever planetary gear structure and single rocking bar rear car wheel construction that multi link walking mechanism uses are more simple
Single, easily manufactured, reliability is higher, reduces manufacture under the premise of guaranteeing mobile robot performance convenient for mass production
Cost.
Detailed description of the invention
Fig. 1 is the overall structure diagram of six-wheel mobile robot multi link walking mechanism of the present invention.
Fig. 2 is the schematic top plan view of six-wheel mobile robot multi link walking mechanism of the present invention.
Fig. 3 is the schematic front view of six-wheel mobile robot multi link walking mechanism of the present invention.
Fig. 4 is that six-wheel mobile robot multi link walking mechanism of the present invention connects car body along A-A car body connecting shaft center line
The local cutting schematic diagram of spindle junction progress cutting.
Fig. 5 be six-wheel mobile robot multi link walking mechanism of the present invention after B-B car body connecting shaft center line to car body
Connection shaft connection place carries out the local cutting schematic diagram of cutting afterwards.
Fig. 6 is that six-wheel mobile robot multi link walking mechanism of the present invention is cutd open in bar shaft connection place along the axis of bar axis
The local cutting schematic diagram cut.
In figure: 1- car body, 2- rear wheel, rocking bar after 3-, wheel in 4-, rocking bar in 5-, bar axis in 6-, the trapezoidal connecting rod of 7-,
8- front vehicle wheel, 9- front bar axis, rocking bar before 10-, connecting shaft before 11- car body, connecting shaft in 12- car body, connecting shaft after 13- car body,
14- siding, 15- car body connecting shaft sleeve, rolling bearing on the inside of 16- car body connecting shaft, 17- body inner side cover board, outside 18- car body
Side cover plate, rolling bearing on the outside of 19- car body connecting shaft, 20- car body outside stopper, 21- body inner side block, 22- rubber block,
Connecting shaft sleeve after 23- car body, 24- retaining ring, 25- bar axis rolling bearing, 26- rod sleeve cylinder.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described:
Fig. 1-3 gives a kind of six-wheel mobile robot multi link walking mechanism, including car body 1, double rocking lever planetary gear structure and
Single rocking bar rear car wheel construction, the two sides of the car body 1 are symmetrically arranged with double rocking lever planetary gear structure and single rocking bar rear car wheel construction.Institute
Stating single rocking bar rear car wheel construction includes connecting shaft 13 after car body, rear rocking bar 3 and rear wheel 2, and rear rocking bar 3 is provided with the stretching of rear wheel 2
The mounting hole of axis, 2 projecting shaft of rear wheel have screw thread, and by gasket, hexagonal flange nut is fixedly connected with rear rocking bar 3；Car body
Connecting shaft 13 uses stepped shaft structure afterwards, and both ends have screw thread, are fixedly connected by nut with rear rocking bar 3；1 top of car body
Both sides be symmetrically arranged with two pieces of sidings 14；As shown in figure 5, rubber block 22 is embedded in siding 14, body inner side block 21 and vehicle
External side block blocks 20 are provided with rubber block mounting hole, and body inner side block 21 and car body outside stopper 20 are symmetrically distributed in 14 liang of siding
Side clamps rubber block 22, prevents 22 horizontal looseness of rubber block, and rubber block 22 is provided with through-hole, and connecting shaft 13 passes through rubber after car body
Cooperate after block 22 with connecting shaft sleeve 23 after car body, axial restraint is carried out to connecting shaft sleeve 23 after car body using nut.It is described
Double rocking lever planetary gear structure includes connecting shaft 11 before car body, connecting shaft 12 in car body, preceding rocking bar 10, middle rocking bar 5, front bar axis 9, in
Bar axis 6, trapezoidal connecting rod 7, front vehicle wheel 8 and middle wheel 4.The lower part both ends of trapezoidal connecting rod 7 are provided with wheel and stretch out shaft mounting hole, front truck
Wheel 8 and 4 projecting shaft of middle wheel have screw thread, and trapezoidal connecting rod 7 passes through gasket, hexagonal flange nut and front vehicle wheel 8,4 phase of middle wheel
Connection；As shown in fig. 6, trapezoidal connecting rod 7 is provided with the mounting hole of front bar axis 9 and middle bar axis 6, front bar axis 9 and middle bar axis 6 use ladder
There is screw thread, front bar axis 9 and middle bar axis 6 to be fixedly connected by nut with trapezoidal connecting rod 7 for axle construction, both ends；Preceding rocking bar 10 is in
The lower end of rocking bar 5 is provided with rolling bearing mounting base, before bar axis rolling bearing 25 is embedded in rocking bar 10 and middle rocking bar 5, the rolling of bar axis
The outside of dynamic bearing 25 is equipped with retaining ring 24, and retaining ring 24 is fixedly connected on preceding rocking bar 10 by bolt, nut, on middle rocking bar 5, to bar
Axis rolling bearing 25 carries out axial restraint, and front bar axis 9 and middle bar axis 6 pass through bar axis rolling bearing 25, pass through nut, rod sleeve cylinder
26 are connected with preceding rocking bar 10, middle rocking bar 5；As shown in figure 4, connecting shaft 12 uses multi-diameter shaft knot in connecting shaft 11 and car body before car body
Structure, both ends have screw thread, and the upper end of preceding rocking bar 10 and middle rocking bar 5 is provided with car body connecting shaft mounting hole, makes vehicle respectively by nut
Connecting shaft 11 before body, connecting shaft 12 is fixedly connected with preceding rocking bar 10, middle rocking bar 5 in car body；Front bar axis 11, middle bar axis 12 pass through vehicle
Rolling bearing 19 on the outside of body connecting shaft inside rolling bearing 16, car body connecting shaft, passes through car body connecting shaft sleeve 15, nut and vehicle
Rolling bearing 19 is connected on the outside of body connecting shaft inside rolling bearing 16, car body connecting shaft；14 two sides of siding are provided with rolling bearing peace
Seat is filled, rolling bearing 19 is mounted on the rolling bearing of siding 14 on the outside of car body connecting shaft inside rolling bearing 16 and car body connecting shaft
In mounting base, body inner side cover board 17 and car body balustrade deching 18 are fixedly connected on siding 14 by screw bolt and nut, to two
Bearing carries out axial restraint.The present invention also thickeies rocking bar, and uses larger sized rolling bearing, bar axis, car body
Connecting shaft improves the intensity of multi link walking mechanism, ensure that the safety of multi link walking mechanism.
The working principle of six-wheel mobile robot multi link walking mechanism of the present invention is as follows:
For mobile robot when being uneven road traveling and crossing over compared with high obstacle object, wheel will generate the fortune of vertical direction
It is dynamic；It is preceding due to double rocking lever planetary gear structure and mobile robot self gravity when front vehicle wheel 8, which breaks the barriers, to be forced to raise
Rocking bar 10, middle rocking bar 5 and trapezoidal connecting rod 7 will be rotated accordingly, and middle wheel 4 will have whereabouts trend；Wheel 4 connects with road surface in the middle
When touching, road surface meeting centering wheel 4 generates holding power, and wheel 4 continues to fall in prevention, to realize the flat of mobile robot car body
Weighing apparatus is contacted with road surface always so that front vehicle wheel 8 and middle wheel 4 change with road surface in the height of vertical direction and changed.And double
Rocking bar planetary gear structure rotates in change procedure, and ground impacts again in face of rear wheel 2 because the presence of rubber block 22 to move
Robot has certain shock-absorbing performance.The present invention can guarantee mobile robot obstacle performance with higher and stabilization
Property, and the precision components inside mobile robot are played with certain protective effect.
Claims (10)
1. a kind of six-wheel mobile robot multi link walking mechanism, including car body (1), it is characterised in that: the two of the car body (1)
Side is symmetrically arranged with double rocking lever planetary gear structure and single rocking bar rear car wheel construction, and the double rocking lever planetary gear structure includes connecting before car body
Spindle (11), connecting shaft (12) in car body, preceding rocking bar (10), middle rocking bar (5), front bar axis (9), middle bar axis (6), trapezoidal connecting rod
(7), front vehicle wheel (8) and middle wheel (4), connecting shaft (12) and car body (1) rotate in connecting shaft (11) and car body before the car body
Connection, before the car body in connecting shaft (11) and car body connecting shaft (12) respectively with the upper end of preceding rocking bar (10) and middle rocking bar (5)
Upper end be fixedly connected, the lower end of the preceding rocking bar (10) is connected by front bar axis (9) with trapezoidal connecting rod (7), it is described in shake
The lower end of bar (5) is connected by middle bar axis (6) with trapezoidal connecting rod (7), and the lower part both ends of the trapezoidal connecting rod (7) are respectively equipped with
Front vehicle wheel (8) and middle wheel (4).
2. a kind of six-wheel mobile robot multi link walking mechanism as described in claim 1, it is characterised in that: the list rocking bar
Rear car wheel construction includes connecting shaft (13) after car body, rear rocking bar (3) and rear wheel (2), connecting shaft (13) and vehicle after the car body
Body (1) is rotatablely connected, and connecting shaft (13) is fixedly connected with rear rocking bar (3) after the car body, and the lower end of the rear rocking bar (3) is equipped with
Rear wheel (2).
3. a kind of six-wheel mobile robot multi link walking mechanism as claimed in claim 2, it is characterised in that: after the car body
Connecting shaft (13) is multi-diameter shaft, and the both ends of connecting shaft (13) have screw thread after the car body.
4. a kind of six-wheel mobile robot multi link walking mechanism as claimed in claim 2, it is characterised in that: the car body
(1) both sides above are symmetrically arranged with two pieces of sidings (14), are embedded with rubber block (22) in the siding (14), the siding (14)
Inside and outside be symmetrically arranged with body inner side block (21) and car body outside stopper (20), the body inner side block (21) and vehicle
External side block blocks (20) clamp rubber block (22), and connecting shaft (13) passes through rubber block (22) after the car body.
5. a kind of six-wheel mobile robot multi link walking mechanism as claimed in claim 4, it is characterised in that: after the car body
Connecting shaft (13) passes through siding (14), after the one end of connecting shaft (13) on the inside of car body (1) is arranged with car body after the car body
Connecting shaft sleeve (23), connecting shaft sleeve (23) carries out axial restraint by nut after the car body.
6. a kind of six-wheel mobile robot multi link walking mechanism as described in claim 1, it is characterised in that: the car body
(1) both sides above are symmetrically arranged with two pieces of sidings (14), and the siding (14) is equipped with rolling bearing pedestal, the rolling bearing peace
Rolling bearing (19) on the outside of car body connecting shaft inside rolling bearing (16) and car body connecting shaft is installed, the car body connects in dress seat
Rolling bearing (19) passes through outside body inner side cover board (17) and car body on the outside of spindle inside rolling bearing (16) and car body connecting shaft
It is solid by screw bolt and nut that side cover plate (18) carries out axial restraint, the body inner side cover board (17) and car body balustrade deching (18)
It is scheduled on siding (14).
7. a kind of six-wheel mobile robot multi link walking mechanism as described in claim 1, it is characterised in that: the front bar axis
(9) and middle bar axis (6) uses stepped shaft structure, and the both ends of the front bar axis (9) and middle bar axis (6) are with screw thread.
8. a kind of six-wheel mobile robot multi link walking mechanism as described in claim 1, it is characterised in that: the trapezoidal company
The lower part both ends of bar (7) are provided with wheel and stretch out shaft mounting hole, and the front vehicle wheel (8) and middle wheel (4) are equipped with wheel projecting shaft, institute
It states wheel projecting shaft and stretches out shaft mounting hole across wheel, the wheel projecting shaft has screw thread, and the trapezoidal connecting rod (7) passes through vehicle
Projecting shaft, gasket are taken turns, hexagonal flange nut is connect with front vehicle wheel (8) and middle wheel (4).
9. a kind of six-wheel mobile robot multi link walking mechanism as described in claim 1, it is characterised in that: the preceding rocking bar
(10) and the lower end of middle rocking bar (5) is embedded with bar axis rolling bearing (25), and the front bar axis (9) and middle bar axis (6) pass through bar axis
Rolling bearing (25).
10. a kind of six-wheel mobile robot multi link walking mechanism as claimed in claim 9, it is characterised in that: the bar axis
The outside of rolling bearing (25) is equipped with retaining ring (24), and the retaining ring (24) is fixedly connected on preceding rocking bar by screw bolt and nut
(10), on middle rocking bar (5), the retaining ring (24) carries out axial restraint to bar axis rolling bearing (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910746110.5A CN110371206A (en) | 2019-08-13 | 2019-08-13 | A kind of six-wheel mobile robot multi link walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910746110.5A CN110371206A (en) | 2019-08-13 | 2019-08-13 | A kind of six-wheel mobile robot multi link walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110371206A true CN110371206A (en) | 2019-10-25 |
Family
ID=68259309
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910746110.5A Pending CN110371206A (en) | 2019-08-13 | 2019-08-13 | A kind of six-wheel mobile robot multi link walking mechanism |
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| Country | Link |
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| CN (1) | CN110371206A (en) |
Cited By (2)
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| CN113401242A (en) * | 2021-08-04 | 2021-09-17 | 中国人民解放军国防科技大学 | Traveling device, traveling system and method for traveling device |
| CN113401240A (en) * | 2021-08-04 | 2021-09-17 | 中国人民解放军国防科技大学 | Wheel-leg combined type gear train system, walking device and walking method |
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| CN113401240B (en) * | 2021-08-04 | 2022-05-24 | 中国人民解放军国防科技大学 | Wheel-leg combined type gear train system, walking device and walking method |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191025 |
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| RJ01 | Rejection of invention patent application after publication |