CN113788081B - Multi-terrain driving unmanned vehicle based on vehicle body deformation driving - Google Patents
Multi-terrain driving unmanned vehicle based on vehicle body deformation driving Download PDFInfo
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- CN113788081B CN113788081B CN202110965807.9A CN202110965807A CN113788081B CN 113788081 B CN113788081 B CN 113788081B CN 202110965807 A CN202110965807 A CN 202110965807A CN 113788081 B CN113788081 B CN 113788081B
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- 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
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Abstract
The invention relates to a multi-terrain driving unmanned vehicle based on vehicle body deformation driving, which comprises a main body mechanism, wherein the main body mechanism adopts a variable diamond structure, four sides of the main body mechanism are movably connected with a deformable limb mechanism, a walking part is arranged at the free end of the limb mechanism, a power part for changing the shape of the main body mechanism is arranged on the main body mechanism, and when the power part works, included angles among the four sides of the main body mechanism can be correspondingly changed and the limb mechanism is driven to deform and move. Compared with the prior art, the invention adopts the deformation driving mode of the main body mechanism to advance, can be simultaneously suitable for complex terrains and smooth road surfaces, and can not generate the phenomenon of skidding.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a multi-terrain driving unmanned vehicle based on vehicle body deformation driving.
Background
The multi-terrain unmanned vehicle can carry different modules according to different requirements so as to execute the functions of unmanned reconnaissance, monitoring, fire fighting, freight transportation and the like.
The existing unmanned vehicles mostly adopt the structure of a four-footed robot or a wheeled robot, wherein the four-footed robot such as a Boston power dog and an MIT Cheetah mostly imitates the motion form of a dog or a Cheetah and mainly depends on a motor to drive four limbs to crawl forwards;
the wheel-type robot can smoothly move on a gentle road surface, but the wheel-type robot is easy to slip on a slippery ground surface due to the driving mode that the wheels rotate to generate friction torque with the ground surface so as to drive the vehicle body to move, and the wheel-type robot cannot adapt to complicated terrains such as sand, mud and rugged road surfaces.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a multi-terrain driving unmanned vehicle based on vehicle body deformation driving so as to ensure that the unmanned vehicle can be well adapted to complex terrain and smooth road surfaces.
The purpose of the invention can be realized by the following technical scheme: the utility model provides an unmanned car of going of many topography based on automobile body deformation drive, includes main body mechanism, main body mechanism adopts variable rhombus structure, main body mechanism's four sides and flexible limbs mechanism swing joint, the running part is installed to the free end of limbs mechanism, the last power pack who is used for changing the main body mechanism form of installing of main body mechanism, when power pack during operation, can correspondingly change the contained angle between the main body mechanism four sides to it takes place to warp the removal to drive limbs mechanism.
Further, the main body mechanism comprises a first rod, a second rod, a third rod and a fourth rod which are sequentially hinged with each other, and the limb mechanism is movably connected with the middle positions of the first rod, the second rod, the third rod and the fourth rod respectively.
Furthermore, one end of the first rod is hinged to one end of the fourth rod through the first shaft, the other end of the first rod is hinged to one end of the second rod through the second shaft, the other end of the second rod is hinged to one end of the third rod through the third shaft, and the other end of the third rod is hinged to the other end of the fourth rod through the fourth shaft.
Further, the limb mechanism comprises a right front limb part, a right rear limb part, a left rear limb part and a left front limb part, wherein the right front limb part, the right rear limb part, the left rear limb part and the left front limb part are movably connected with the middle positions of the first rod, the second rod, the third rod and the fourth rod respectively.
Furthermore, the right front limb is movably connected with the middle position of the first rod through a fifth shaft, the right rear limb is movably connected with the middle position of the second rod through a sixth shaft, the left rear limb is movably connected with the middle position of the third rod through a seventh shaft, and the left front limb is movably connected with the middle position of the fourth rod through an eighth shaft.
Further, the right front limb portion includes fifth pole, sixth pole, seventh pole and the eighth pole of swing joint in proper order, the intermediate position swing joint of one end and the first pole of fifth pole, the other end of fifth pole is connected with the one end of sixth pole through the ninth axle, the other end of sixth pole is connected with the one end of seventh pole through the tenth axle, the other end of seventh pole is connected with the one end of eighth pole through the eleventh axle, the other end of eighth pole is connected with the running gear through the twelfth hub connection.
Further, right back limb portion includes the ninth pole, tenth pole, eleventh pole and the twelfth pole of swing joint in proper order, the intermediate position swing joint of one end and the second pole of ninth pole, the other end of ninth pole is connected with the one end of tenth pole through the thirteenth axle, the other end of tenth pole is connected with the one end of eleventh pole through the twelfth axle, the other end of eleventh pole is connected with the one end of twelfth pole through the fifteenth axle, the other end of twelfth pole is connected with the running member through the sixteenth axle.
Further, the left hind limb portion includes thirteenth, tenth four-bar, fifteenth and sixteenth pole of swing joint in proper order, the intermediate position swing joint of one end and the third pole of thirteenth, the other end of thirteenth passes through the seventeenth axle and is connected with the one end of tenth four-bar, the other end of tenth four-bar is connected with the one end of fifteenth pole through eighteenth axle, the other end of fifteenth pole passes through the nineteenth axle and is connected with the one end of sixteenth pole, the other end of sixteenth pole passes through the twentieth axle and connects and install the running member.
Further, the left front limb comprises a seventeenth rod, an eighteenth rod, a nineteenth rod and a twentieth rod which are sequentially and movably connected, one end of the seventeenth rod is movably connected with the middle position of the fourth rod, the other end of the seventeenth rod is connected with one end of the eighteenth rod through a twenty-first shaft, the other end of the eighteenth rod is connected with one end of the nineteenth rod through a twenty-second shaft, the other end of the nineteenth rod is connected with one end of the twentieth rod through a twenty-third shaft, and the other end of the twentieth rod is connected with a walking part through a twenty-fourth shaft.
Further, the walking part comprises a cover plate, a one-way bearing is installed below the cover plate, and a tire is sleeved on the one-way bearing.
Compared with the prior art, the invention adopts the main body mechanism with the variable diamond structure form, four sides of the main body mechanism are respectively movably connected with the deformable limb mechanism, the power part is arranged on the main body mechanism, the main body mechanism is driven by the power part to deform, so that the included angles between the four sides are changed, and the limb mechanism is driven to deform and move, thereby realizing the advancing of the unmanned vehicle;
according to the invention, the main body mechanism can reciprocate under the driving of the power component, so that the main body mechanism is not rigid any more during traveling, and therefore, the main body mechanism can be well suitable for complicated terrains with rugged ground;
even if the power part on the main body mechanism stops working, the walking part at the free end of the limb mechanism still maintains a certain travelling distance under the action of inertia, so that the running smoothness of the unmanned vehicle on a gentle road surface can be improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a side view of the left front limb portion coupled to the undercarriage;
FIG. 3 is a schematic view of the movement process of the present invention;
FIG. 4 is a schematic structural diagram of the present invention in an initial state;
FIG. 5 is a schematic view of the present invention in a vertically extended position;
FIG. 6 is a schematic view of the present invention in a laterally extended state;
FIG. 7 is a schematic overall structure diagram according to the first embodiment;
FIG. 8a is a schematic view of a connection structure of the main body mechanism according to the first embodiment;
FIG. 8b is an exploded view of the main body according to the first embodiment;
FIG. 9a is a schematic view of a connection configuration of a limb mechanism according to one embodiment;
FIG. 9b is an exploded view of the limb mechanism according to the first embodiment;
FIG. 10 is a schematic diagram of the movement process of the first embodiment;
FIG. 11 is a schematic diagram of an initial state of the exemplary embodiment;
FIG. 12 is a schematic view of the embodiment in a vertically extended state;
FIG. 13 is a schematic diagram of the embodiment in a laterally extended state;
FIG. 14 is a schematic view of the overall structure of the second embodiment;
FIG. 15a is a schematic view of a connecting structure of a main body mechanism according to a second embodiment;
FIG. 15b is an exploded view of the main body according to the second embodiment;
FIG. 16a is a schematic view of a coupling structure of a limb mechanism according to a second embodiment;
FIG. 16b is an exploded view of the limb mechanism according to the second embodiment;
FIG. 17 is a schematic diagram of the second embodiment of the movement process;
FIG. 18 is a schematic structural diagram of the second embodiment in an initial state;
FIG. 19 is a schematic structural view of the second embodiment in a vertically extended state;
FIG. 20 is a schematic structural view in a laterally extended state according to a second embodiment;
the notation in the figure is: a1 to a20, first to twentieth rods, B1 to B24, first to twenty-fourth shafts, C1 to C4, a traveling member, C41, a cover plate, C42, a one-way bearing, C43, a tire, 1, a body mechanism of the first embodiment, 2, a left hind limb of the first embodiment, 3, a left front limb of the first embodiment, 4, a right front limb of the first embodiment, 5, a right hind limb of the first embodiment, 6, a body mechanism of the second embodiment, 7, a left hind limb of the second embodiment, 8, a left front limb of the second embodiment, 9, a right front limb of the second embodiment, 10, and a right hind limb of the second embodiment.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
As shown in fig. 1, a multi-terrain traveling unmanned vehicle driven based on vehicle body deformation comprises first to twentieth rods (i.e., A1 to a20 in fig. 1) and first to twenty-fourth shafts (i.e., B1 to B24 in fig. 1), wherein the first to fourth rods A1 to A4 are sequentially hinged to each other through the first to fourth shafts B1 to B4, and are respectively connected with fifth shafts B5 to eighth shafts B8 at intermediate positions of the first to fourth rods A1 to A4, so as to form a main body mechanism of a deformable diamond structure, and a power component (i.e., a power source in fig. 1) is further mounted on the main body mechanism;
the deformable limb mechanism comprises a right front limb (in figure 1, a fifth rod A5 to an eighth rod A8 are movably connected through a ninth axis B9 to a twelfth axis B12 in sequence, and the twelfth axis B12 is connected with a walking component C1);
a right hind limb (in fig. 1, a ninth rod A9 to a twelfth rod a12 are movably connected through a thirteenth shaft B13 to a sixteenth shaft B16 in sequence, and the sixteenth shaft B16 is connected with a walking component C2);
a left hind limb (a thirteenth rod A13 to a sixteenth rod A16 are movably connected through a seventeenth shaft B17 to a twentieth shaft B20 in turn in fig. 1, and the twentieth shaft B20 is connected with a walking component C3);
a left front limb part (a seventeenth rod A17 to a twentieth rod A20 in the figure 1 are movably connected through a twenty-first shaft B21 to a twenty-fourth shaft B24 in sequence, and a twelfth shaft B12 is connected with a walking component C4).
As shown in fig. 2, taking the traveling member C4 as an example, the traveling member includes a cover plate C41 (corresponding to C11, C21, and C31 in C1, C2, and C3), a one-way bearing C42 (corresponding to C12, C22, and C32 in C1, C2, and C3), and a tire C43 (corresponding to C13, C23, and C33 in C1, C2, and C3), the one-way bearing C42 is mounted below the cover plate C41, and the one-way bearing C42 is a bearing that supports rotation in only one direction.
When the power component on the main body mechanism works, the form of the main body mechanism is driven to change (the included angle between four sides changes), and then the limb mechanism is driven to deform and move, and the specific movement process of the invention is shown in fig. 3-6 and comprises the following operation states:
s0: as shown in figure 4, the power part of the unmanned vehicle does not work, the unmanned vehicle does not move, and the included angle alpha between the four rod structures A1-A4 of the main body mechanism 1 And alpha 2 Approximately 90 degrees, the included angles beta between the rod pieces A5, A9, A13 and A17 of the limb mechanism and the rods A1 to A4 connected with the main mechanism are approximately 90 degrees, and S0 is in an initial state.
S1: as shown in FIG. 5, the power unit operates to drive the rods A1-A4 of the main body mechanism, and the rods of the main body mechanism rotate around the connecting shafts B1-B4 to make alpha 1 Decrease of alpha 2 And increasing the included angle beta between the rods A5, A9, A13 and A17 of the limb mechanism and the rods A1 to A4 connected with the main mechanism through mechanical restraint. At the moment, the left front limb and the right front limb extend forwards, the walking parts C4 and C1 at the tail ends of the left front limb and the right front limb move forwards, and the bearings C42 and C12 and the corresponding wheel rims and tires C43 and C13 in the walking parts rotate forwards under the combined action of ground friction and the forward extension of the tail ends of the left front limb and the right front limb; the left hind limb and the right hind limb extend backwards, the walking parts C3 and C2 at the tail ends of the left hind limb and the right hind limb have the tendency of moving backwards, the bearings C32 and C22 and the corresponding wheel rims and tires C33 and C23 in the walking parts have the tendency of rotating backwards under the combined action of ground friction and the backward extension of the tail ends of the left hind limb and the right hind limb, and the left hind limb and the right hind limb cannot extend backwards because the one-way bearing does not allow the backward rotation, and only can reversely push other parts of the whole unmanned vehicle to move forwards, so that the whole vehicle body moves forwards. In this step, due to the geometrical constraints, the limbs are in a relaxed and extended state, which is represented by the fact that the included angle γ between A6 and A7 (and a10 and a11, a14 and a15, and a18 and a 19) in the limbs is increased. S1 is in a first jump state, i.e., in a vertically extended state.
S2: the geometry of the machine is the same as that of S1, and as the vehicle body in S1 moves forwards, C12, C22, C32 and C42 all rotate forwards under the action of inertia, and the whole unmanned vehicle slides forwards under the action of inertia. And S2 is a first-time coasting state.
S3: as shown in FIG. 6, the power unit works to drive the rod A1E of the main body mechanismA4, the rod of the main body mechanism rotates around the connecting shafts B1-B4 to enable alpha 1 Increase, alpha 2 And reducing an included angle beta between the rod pieces A5, A9, A13 and A17 of the limb mechanism and the rods A1 to A4 connected with the main body mechanism through mechanical constraint. At the moment, the left hind limb and the right hind limb extend forwards, the walking parts C3 and C2 at the tail ends of the left hind limb and the right hind limb move forwards, and the bearings C32 and C22 and the corresponding wheel rims and tires C33 and C23 in the walking parts rotate forwards under the combined action of ground friction and the forward extension of the tail ends of the left hind limb and the right hind limb; the left front limb and the right front limb extend backwards, the walking parts C4 and C1 at the tail ends of the left front limb and the right front limb have the tendency of moving backwards, the bearings C42 and C12 and the corresponding wheel rims and tires C43 and C13 in the walking parts have the tendency of rotating backwards under the combined action of ground friction and the backward extension of the tail ends of the left front limb and the right front limb, and the left front limb and the right front limb cannot extend backwards because the unidirectional bearings cannot allow the backward rotation, and only the other parts of the whole unmanned vehicle can be pulled backwards to move forwards, so that the whole vehicle body moves forwards. In this step, due to the geometrical constraints, the limbs are in a relaxed and extended state, which is represented by the decrease of the angle γ between A6 and A7 (and a10 and a11, a14 and a15, a18 and a 19) in the limbs. S3 is the second jump state, i.e. the laterally extended state.
S4: the geometry of the machine is the same as that of S3, and as the vehicle body in S3 moves forwards, C12, C22, C32 and C42 all rotate forwards under the action of inertia, and the whole unmanned vehicle slides forwards under the action of inertia. And S4 is a first-time coasting state, after the S4 state is finished, the state enters the S1 state again, the circulation of the steps from S1 to S4 is realized, and the unmanned vehicle continuously moves forwards.
In practical application, the power component mounted on the main body mechanism can adopt a structural form of a motor or an electromagnet and a spring.
Example one
As shown in fig. 7, the main body mechanism 1 is connected to the left rear limb 2, the left front limb 3, the right front limb 4, and the right rear limb 5 through gear pairs. Wherein, the main body mechanism 1 moves under the action of the motor to drive the limbs 2, 3, 4 and 5 to move.
As shown in fig. 8 (including fig. 8a and 8 b), in the main body mechanism 1, the motor 1.1 is fixed on the upper cover plate 1.2 through hinge joint, riveting or screw thread connection; the upper cover plate 1.2 is matched with the unthreaded hole at the corresponding position of the bottom plate 1.6 through the extended unthreaded rod, and the upper cover plate and the bottom plate are relatively fixed; the upper cover plate 1.2 is matched with the inner rings of the bearings 1.3 and 1.4 which are parallel up and down through the extended polish rod; the bearing 1.3 and the bearing 1.4 are matched with the rod 1.5; the rod 1.5 is matched with a bearing 1.7 and a bearing 1.8 outer ring which are parallel up and down through a hole at a corresponding position, and the bearing 1.7 and the bearing 1.8 inner ring are connected with the left forelimb 3; the rod 1.5 and the rod 1.9 are connected through a rotating shaft to form a rotating pair; the rod 1.9 is matched with the bearings 1.10 and the bearings 1.11 which are parallel up and down through holes at corresponding positions, and the inner rings of the bearings 1.10 and the bearings 1.11 are connected with the left hind limb 2; the rod 1.9 is matched with a bearing 1.12 and a bearing 1.13 outer ring which are parallel up and down through a hole at a corresponding position, and the bearing 1.12 and the bearing 1.13 inner ring are matched with a polish rod which extends out from a corresponding position of an upper cover plate 1.14; the upper cover plate 1.14 is matched with a bearing 1.15 and a bearing 1.16 inner ring which are parallel up and down through another extended polish rod, and the bearing 1.15 and the bearing 1.16 outer ring are matched with holes at the corresponding positions of the rod 1.17; the rod 1.9 and the rod 1.17 are meshed through gear pairs at corresponding positions; the upper cover plate 1.14 is matched with the unthreaded hole at the corresponding position of the bottom plate through two unthreaded rods, and the two unthreaded rods are fixed relatively; the rod 1.17 is matched with the bearings 1.19 and the outer rings of the bearings 1.20 which are parallel up and down through holes at corresponding positions, and the inner rings of the bearings 1.19 and the bearings 1.20 are connected with the right rear limb 5; the rod 1.17 and the rod 1.21 are connected through a rotating shaft to form a rotating pair; the rod 1.21 is matched with the bearings 1.22 and the outer rings of the bearings 1.23 which are parallel up and down through holes at corresponding positions, and the inner rings of the bearings 1.22 and the bearings 1.23 are connected with the right front limb 4; the rod 1.21 and the rod 1.5 are meshed through gear pairs at corresponding positions; the rod 1.21 is connected with a rotating shaft extending out of the motor 1.1 through a hole in a corresponding position in a key connection mode, an interference fit mode and the like, and the rod 1.21 swings along with the rotation of the rotating shaft of the motor 1.1 so as to drive other joints to rotate.
The left hind limb 2, left front limb 3, right front limb 4 and right hind limb 5 are identical in structure, taking the left hind limb 2 as an example, as shown in fig. 9 (including fig. 9a and 9 b). The upper cover plate 2.1 is matched with the inner rings of the bearings 2.2 and 2.3 which are parallel up and down through the extended polish rod; the bearing 2.2 and the outer ring of the bearing 2.3 are matched with the joint 2.5; another extended polish rod of the upper cover plate 2.1 is matched with inner rings of bearings 1.7 and 1.8 which are arranged in parallel up and down in the figure 8; the joint 2.5 is meshed with a gear structure in the middle of the rod 1.5 in the figure 8; the upper cover plate 2.1 is matched with the unthreaded hole at the corresponding position of the bottom plate 2.4 through the two protruded unthreaded rods, and the two are relatively fixed; the joint 2.5 is connected with the parallel light holes at the corresponding positions of the rod 2.7 and the rod 2.8 through the light hole at the left side in the figure 9 to form a revolute pair through a pin shaft; the joint 2.5 is connected with the unthreaded hole at the corresponding position of the rod 2.6 through the unthreaded hole at the right side in the figure 9 through a pin shaft to form a revolute pair; the rod 2.6 is connected with the right-hand unthreaded hole of the joint 2.9 in the figure 9 and the unthreaded hole at the corresponding position of the rod 2.10 through a pin shaft to form a revolute pair through the unthreaded hole at the upper left in the figure 9; the rod 2.6 and the rod 2.10 are connected with the spring 2.12; the rod 2.7 and the rod 2.8 are connected with the unthreaded hole of the joint 2.9 on the left side in the figure 9 and the unthreaded hole of the corresponding position of the rod 2.11 through a pin shaft to form a revolute pair through the unthreaded hole on the upper left side in the figure 9; the lower left end of the rod 2.10 in fig. 9 and the left side hole of the joint 2.13 in fig. 9 form a revolute pair; the lower left end of the rod 2.11 in fig. 9 and the joint 2.13 in fig. 9 form a revolute pair with the right hole; the polish rod at the deep position below the joint 2.13 is matched with the inner ring of the bearing 2.14; the outer ring of the bearing 2.14 is matched with a corresponding hole above the joint 2.15; the ear below the joint 2.15 is connected with the inner ring of the wheel 2.16 through a pin shaft 2.17; the inner ring of the wheel 2.16 is a one-way bearing, the outer ring is wrapped by protective and bearing structures such as tires, and the outer ring is in contact with the ground.
The motion and control flow chart of the present embodiment is shown in fig. 10, and the specific flow is as follows:
s1.0: initial state, as in fig. 11. The motor is powered on, the rotating shaft does not rotate, and the included angle alpha between the rod 1.5 and the rod 1.21 1 Approximately 90 DEG, the angle alpha between the rod 1.5 and the rod 1.9 2 Approximately 90 degrees, the included angle between the left front leg 3 and the rod 1.5, the included angle between the left rear leg 2 and the rod 1.9, the included angle between the right front leg 4 and the rod 1.21 and the included angle beta between the right rear leg 5 and the rod 1.17 are approximately 90 degrees, and the spring is in a natural state.
S1.1: the first jump state, as in fig. 12. The motor shaft rotates clockwise, and the driving rods 1.5, 1.9, 1.17 and 1.21 rotate around the connecting shaft to enable alpha 1 Decrease of alpha 2 The angle beta between the rods 2, 3, 4 and 5 at the root of the limbs and the rods 1.9, 1.5, 1.21 and 1.17 connected on the body is increased through gear meshing constraint. At this time, the left and right front limbs are extended forward, and the left and right front limb ends are moved forwardThe bearings in the walking part and the wrapped tires rotate forwards under the combined action of ground friction and the forward extension of the tail ends of the left front limb and the right front limb; the left hind limb and the right hind limb extend backwards, the tail ends of the left hind limb and the right hind limb tend to move backwards, the bearings in the walking part and the wrapped tires tend to rotate backwards under the combined action of ground friction and the backward extension of the tail ends of the left hind limb and the right hind limb, and the one-way bearings do not allow the backward rotation, so the left hind limb and the right hind limb cannot extend backwards, and only can reversely push other parts of the whole unmanned vehicle to move forwards, and therefore the whole vehicle body moves forwards. In this step, the limbs are in a relaxed state, due to geometrical constraints, which is reflected by a tendency of the springs in the limbs to stretch.
S1.2: the first lazy state. The geometrical shape of the unmanned vehicle is the same as that of S1.1, and because the vehicle body in S1.1 moves forwards, all wheels at the tail ends of the four limbs rotate forwards under the inertia effect, and the whole unmanned vehicle slides forwards under the inertia effect.
S1.3: second jump state, fig. 13. The motor shaft rotates clockwise, and the driving rods 1.5, 1.9, 1.17 and 1.21 rotate around the connecting shaft to enable alpha to rotate 1 Increase of alpha 2 And the included angle beta between the limb root rod pieces 2, 3, 4 and 5 and the rods 1.9, 1.5, 1.21 and 1.17 connected on the body is reduced through gear meshing constraint. At the moment, the left hind limb and the right hind limb extend forwards, the tail ends of the left hind limb and the right hind limb move forwards, and the bearing in the walking part and the wrapped tire rotate forwards under the combined action of the ground friction force and the forward extension of the tail ends of the left hind limb and the right hind limb; the left front limb and the right front limb extend backwards, the tail ends of the left front limb and the right front limb tend to move backwards, the bearings in the walking part and the wrapped tires tend to rotate backwards under the combined action of ground friction and the backward extension of the tail ends of the left front limb and the right front limb, and the left front limb and the right front limb cannot extend backwards due to the fact that the one-way bearings cannot allow the backward rotation, and only the other parts of the whole unmanned vehicle can be pulled backwards to move forwards, so that the whole vehicle body moves forwards. In this step, the limbs are in compression due to geometric constraints, which manifests as a tendency of the springs in the limbs to compress.
S1.4: a second coasting state. The geometrical shape of the unmanned vehicle is the same as that of S1.3, and because the vehicle body in S1.3 moves forwards, all wheels at the tail ends of the four limbs rotate forwards under the inertia effect, and the whole unmanned vehicle slides forwards under the inertia effect. And after the S1.4 state is finished, the state enters the S1.1 state again, the circulation of the steps from the S1.1 to the S1.4 is realized, and the unmanned vehicle continuously moves forwards.
Example two
As shown in fig. 14, the main body mechanism 6 is connected to the left rear limb 7, the left front limb 8, the right front limb 9, and the right rear limb 10 through gear pairs. Wherein, the main body mechanism 6 moves under the combined action of the electromagnet and the spring to drive the limbs 7, 8, 9 and 10 to move.
The main body mechanism 6 is configured as shown in fig. 15 (including fig. 15a and 15 b): the electromagnet 6.1 is fixedly connected with the upper cover plate 6.2 through threads; the upper cover plate 6.2 is matched with the unthreaded hole at the corresponding position of the bottom plate 6.6 through the two protruded unthreaded rods, and the two are relatively fixed; a polish rod extending out of the left side of the drawing 15 of the upper cover plate 6.2 is matched with the inner rings of the bearing 6.3 and the bearing 6.4 which are parallel up and down; the bearing 6.3 and the outer ring of the bearing 6.4 are matched with the rod 6.5; the rod 6.5 is matched with a bearing 6.7 and a bearing 6.8 outer ring which are parallel up and down through a hole at a corresponding position, and the bearing 6.7 and the bearing 6.8 inner ring are connected with a left forelimb 8; the rod 6.5 and the rod 6.9 are connected through a rotating shaft to form a rotating pair; the rod 6.9 is matched with a bearing 6.10 and a bearing 6.11 outer ring which are parallel up and down through a hole at a corresponding position, and the bearing 6.10 and the bearing 6.11 inner ring are connected with the left hind limb 7; the rod 6.9 is matched with a bearing 6.12 and a bearing 6.13 outer ring which are parallel up and down through a hole at a corresponding position, and the bearing 6.12 and the bearing 6.13 inner ring are matched with a polish rod which extends out from a corresponding position of an upper cover plate 6.14; the upper cover plate 6.14 is matched with a bearing 6.15 and a bearing 6.16 inner ring which are parallel up and down through another extended polish rod, and the bearing 6.15 and the bearing 6.16 outer ring are matched with holes at the corresponding positions of the rod 6.17; the rod 6.9 and the rod 6.17 are meshed through a gear pair at the corresponding position; the upper cover plate 6.14 is matched with the unthreaded hole at the corresponding position of the bottom plate through two unthreaded rods, and the two unthreaded holes are fixed relatively; the rod 6.17 is matched with a bearing 6.19 and a bearing 6.20 outer ring which are parallel up and down through a hole at a corresponding position, and the bearing 6.19 and the bearing 6.20 inner ring are connected with the right rear limb 10; the rod 6.17 and the rod 6.21 are connected through a rotating shaft to form a rotating pair; the rod 6.21 is matched with a bearing 6.22 and a bearing 6.23 outer ring which are parallel up and down through a hole at a corresponding position, and the bearing 6.22 and the bearing 6.23 inner ring are connected with the right front limb 9; the rod 6.21 and the rod 6.5 are engaged through a gear pair at a corresponding position; the rod 6.21 is matched with the bearings 6.24 and the bearings 6.25 which are parallel up and down through the holes at the corresponding positions, and the upper cover plate 6.2 is matched with the bearings 6.24 and the bearings 6.25 which are parallel up and down through a polish rod which extends out from the right side of the drawing 15; the electromagnet 6.26 is fixed on the upper cover plate 6.14 through threaded connection; the upper cover plate 6.2 and the upper cover plate 6.14 are connected with the spring 6.27; the upper cover plate 6.2 and the upper cover plate 6.14 move under the combined action of the electromagnet 6.1, the electromagnet 6.26 and the spring 6.27, and further drive other joints to rotate.
The left hind limb 7, left front limb 8, right front limb 9 and right hind limb 10 are identical in structure, taking the left hind limb 7 as an example, as shown in fig. 16 (including fig. 16a and 16 b). The upper cover plate 7.1 is matched with the inner rings of the bearings 7.2 and 7.3 which are parallel up and down through the extended polish rod; the bearing 7.2 and the outer ring of the bearing 7.3 are matched with the joint 7.5; another extended polish rod of the upper cover plate 7.1 is matched with inner rings of bearings 1.7 and 1.8 which are arranged in parallel up and down in the figure 15; the joint 7.5 is engaged with a gear structure in the middle of the rod 1.5 in fig. 15; the upper cover plate 7.1 is matched with the unthreaded hole at the corresponding position of the bottom plate 7.4 through the two protruded unthreaded rods, and the two are relatively fixed; the joint 7.5 is connected with the light holes at the corresponding positions of the parallel rod 7.7 and the rod 7.8 through the light hole at the left side in the figure 16 through a pin shaft to form a revolute pair; the joint 7.5 is connected with the unthreaded hole at the corresponding position of the rod 7.6 through the unthreaded hole at the right side in the figure 16 through a pin shaft to form a revolute pair; the rod 7.6 is connected with the right-hand unthreaded hole of the joint 7.9 in the figure 16 and the unthreaded hole at the corresponding position of the rod 7.10 through a pin shaft to form a revolute pair through the unthreaded hole at the upper left in the figure 16; the rod 7.6 and the rod 7.10 are connected with a spring 7.12; the rod 7.7 and the rod 7.8 are connected with the light hole of the joint 7.9 on the left side in the figure 16 and the light hole of the corresponding position of the rod 7.11 through a pin shaft to form a revolute pair through the light hole on the upper left side in the figure 16; the lower left end of the rod 7.10 in fig. 16 and the joint 7.13 in fig. 16 form a revolute pair with a left hole; the lower left end of the rod 7.11 in fig. 16 and the joint 7.13 in fig. 16 form a revolute pair with the right hole; the polish rod in the deep position below the joint 7.13 is matched with the inner ring of the bearing 7.14; the outer ring of the bearing 7.14 is matched with a corresponding hole above the joint 7.15; the ear below the joint 7.15 is connected with the inner ring of the wheel 7.16 through a pin shaft 7.17; the inner ring of the wheel 7.16 is a one-way bearing, the outer ring is wrapped by protective and bearing structures such as tires, and the outer ring is in contact with the ground.
The motion and control flow chart of the present embodiment is shown in fig. 17, and the specific flow is as follows:
s2.0: initial state, as in fig. 18. The electromagnet is electrified, the sucker does not act, and the included angle alpha between the rod 6.5 and the rod 6.21 1 Approximately 90 °, the angle α between the rod 6.5 and the rod 6.9 2 Approximately 90 degrees, the angle between the left front leg 8 and the rod 6.5, the angle between the left rear leg 7 and the rod 6.9, the angle between the right front leg 9 and the rod 6.21, and the angle between the right rear leg 10 and the rod 6.17 are approximately 90 degrees, and the springs are all in a natural state.
S2.1: the first jump state, as shown in fig. 19. The two electromagnets repel each other and drive the upper cover plate 6.2 and the upper cover plate 6.14 to separate so that alpha is 1 Decrease of alpha 2 The angle beta between the limbs ' root bars 7, 8, 9 and 10 and the body's associated bars 6.9, 6.5, 6.21 and 6.17 is increased by the gear mesh constraint. Since the repulsive force is greater than the tensile force of the spring 6.27, the spring is stretched. At the moment, the left front limb and the right front limb extend forwards, the tail ends of the left front limb and the right front limb move forwards, and the bearing in the walking part and the wrapped tire rotate forwards under the combined action of ground friction and the forward extension of the tail ends of the left front limb and the right front limb; the left rear limb and the right rear limb extend backwards, the tail ends of the left rear limb and the right rear limb tend to move backwards, the bearings in the walking part and the wrapped tires tend to rotate backwards under the combined action of ground friction and the backward extension of the tail ends of the left rear limb and the right rear limb, and the one-way bearings do not allow backward rotation, so that the left rear limb and the right rear limb cannot extend backwards, and only other parts of the whole unmanned vehicle can be pushed backwards to move forwards, so that the whole vehicle body moves forwards. In this step, the limbs are in a relaxed state, due to geometrical constraints, which is reflected by a tendency of the springs in the limbs to stretch.
S2.2: a first semi-lazy state. The current of the electromagnets is weakened, and no force is applied between the two electromagnets. Initially the machine geometry is the same as S2.1, and subsequently the two upper cover plates are gradually closed under spring tension. As the vehicle body moves forwards in S2.1, all wheels at the tail ends of the four limbs rotate forwards under the combined action of inertia and the spring, and the whole unmanned vehicle slides forwards.
S2.3: second jump state as in fig. 20. And increasing the current of the two electromagnets again, and enabling the current of one electromagnet to be reversed, so that the two electromagnets are mutually attracted. Under the combined action of this force of attraction and the spring tension, the top cover 6.2 and the top cover 6.14 are closed further, so that α 1 Increase, alpha 2 The angle beta between the limb root bars 7, 8, 9 and 10 and the bars 6.9, 6.5, 6.21 and 6.17 connected to the body is reduced by the gear mesh constraint. Since the attractive force is greater than the urging force of the spring 6.27, the spring is compressed. At the moment, the left hind limb and the right hind limb extend forwards, the tail ends of the left hind limb and the right hind limb move forwards, and the bearing in the walking part and the wrapped tire rotate forwards under the combined action of the ground friction force and the forward extension of the tail ends of the left hind limb and the right hind limb; the left front limb and the right front limb extend backwards, the tail ends of the left front limb and the right front limb tend to move backwards, the bearings in the walking part and the wrapped tires tend to rotate backwards under the combined action of ground friction and the backward extension of the tail ends of the left front limb and the right front limb, and the left front limb and the right front limb cannot extend backwards due to the fact that the one-way bearings cannot allow the backward rotation, and only the other parts of the whole unmanned vehicle can be pulled backwards to move forwards, so that the whole vehicle body moves forwards. In this step, the limbs are in compression due to geometrical constraints, which is manifested by a tendency of the springs in the limbs to compress.
S2.4: a second semi-lazy state. The current of the electromagnets is weakened, and no force is applied between the two electromagnets. Initially the machine geometry was the same as S2.3, and then the two upper cover plates were gradually separated under spring thrust. Because the vehicle body moves forwards in S2.3, all wheels at the tail ends of the four limbs rotate forwards under the combined action of inertia and the spring, and the whole unmanned vehicle slides forwards. And after the S2.4 state is finished, the state enters the S2.1 state again, the circulation of the steps from S2.1 to S2.4 is realized, and the unmanned vehicle continuously moves forwards.
In conclusion, the unmanned vehicle provided by the invention does not adopt wheels to rotate to drive the vehicle body, but adopts a body driving mode to move, so that the unmanned vehicle is not easy to slip, and can better adapt to easily-slipping terrains such as sand, mud and shallow water puddles compared with a common wheel type robot;
because the frame is not rigid but moves back and forth, the robot can better adapt to complex and rugged terrains such as disaster sites and the like compared with a common wheeled robot;
due to the existence of the free sliding mode, the energy utilization rate is higher than that of a foot type robot or a crawling robot, and the running speed on a flat road is relatively higher;
when moving, will be alpha 1 Control of the oscillations around a small average value enables a more slender robot profile to be obtained, which can be passed through a long and narrow duct by this body-narrowing means.
Claims (7)
1. A multi-terrain driving unmanned vehicle based on vehicle body deformation driving is characterized by comprising a main body mechanism, wherein the main body mechanism is of a variable diamond structure, four sides of the main body mechanism are movably connected with a deformable limb mechanism, a walking part is arranged at the free end of the limb mechanism, a power part for changing the form of the main body mechanism is arranged on the main body mechanism, and when the power part works, included angles among the four sides of the main body mechanism can be correspondingly changed and the limb mechanism is driven to deform and move;
the body mechanism comprises a first rod (A1), a second rod (A2), a third rod (A3) and a fourth rod (A4) which are sequentially hinged with each other, and the limb mechanism is movably connected with the middle positions of the first rod (A1), the second rod (A2), the third rod (A3) and the fourth rod (A4) respectively;
the limb mechanism comprises a right front limb part, a right rear limb part, a left rear limb part and a left front limb part, wherein the right front limb part, the right rear limb part, the left rear limb part and the left front limb part are respectively and correspondingly movably connected with the middle positions of a first rod (A1), a second rod (A2), a third rod (A3) and a fourth rod (A4);
right front limb includes fifth pole (A5), sixth pole (A6), seventh pole (A7) and eighth pole (A8) of swing joint in proper order, the intermediate position swing joint of the one end of fifth pole (A5) and first pole (A1), the other end of fifth pole (A5) is connected with the one end of sixth pole (A6) through ninth axle (B9), the other end of sixth pole (A6) is connected with the one end of seventh pole (A7) through tenth axle (B10), the other end of seventh pole (A7) is connected with the one end of eighth pole (A8) through tenth axle (B11), the other end of eighth pole (A8) is connected through tenth axle (B12) and is installed the running gear.
2. The multi-terrain vehicle-driven by vehicle body deformation according to claim 1, wherein one end of the first rod (A1) is articulated with one end of a fourth rod (A4) via a first axis (B1), the other end of the first rod (A1) is articulated with one end of a second rod (A2) via a second axis (B2), the other end of the second rod (A2) is articulated with one end of a third rod (A3) via a third axis (B3), and the other end of the third rod (A3) is articulated with the other end of the fourth rod (A4) via a fourth axis (B4).
3. The multi-terrain vehicle-driven by vehicle body deformation according to claim 1, wherein the right front limb is movably connected to the middle position of the first rod (A1) through a fifth shaft (B5), the right rear limb is movably connected to the middle position of the second rod (A2) through a sixth shaft (B6), the left rear limb is movably connected to the middle position of the third rod (A3) through a seventh shaft (B7), and the left front limb is movably connected to the middle position of the fourth rod (A4) through an eighth shaft (B8).
4. The vehicle body deformation drive-based multi-terrain traveling unmanned vehicle as claimed in claim 1, wherein the right rear limb portion comprises a ninth rod (A9), a tenth rod (a 10), an eleventh rod (a 11) and a twelfth rod (a 12) which are movably connected in sequence, one end of the ninth rod (A9) is movably connected with an intermediate position of the second rod (A2), the other end of the ninth rod (A9) is connected with one end of the tenth rod (a 10) through a thirteenth shaft (B13), the other end of the tenth rod (a 10) is connected with one end of the eleventh rod (a 11) through a twelfth shaft (B14), the other end of the eleventh rod (a 11) is connected with one end of the twelfth rod (a 12) through a twelfth shaft (B15), and the other end of the twelfth rod (a 12) is connected with a traveling member through a sixteenth shaft (B16).
5. The vehicle body deformation drive-based multi-terrain traveling unmanned vehicle as claimed in claim 1, wherein the left rear limb portion comprises a thirteenth rod (a 13), a fourteenth rod (a 14), a fifteenth rod (a 15) and a sixteenth rod (a 16) which are movably connected in sequence, one end of the thirteenth rod (a 13) is movably connected with the middle position of the third rod (A3), the other end of the thirteenth rod (a 13) is connected with one end of the fourteenth rod (a 14) through a seventeenth shaft (B17), the other end of the fourteenth rod (a 14) is connected with one end of the fifteenth rod (a 15) through an eighteenth shaft (B18), the other end of the fifteenth rod (a 15) is connected with one end of the sixteenth rod (a 16) through a nineteenth shaft (B19), and the other end of the sixteenth rod (a 16) is connected with a traveling member through a twentieth shaft (B20).
6. The vehicle body deformation drive-based multi-terrain traveling unmanned vehicle as claimed in claim 1, wherein the left front limb comprises a seventeenth rod (a 17), an eighteenth rod (a 18), a nineteenth rod (a 19) and a twentieth rod (a 20) which are movably connected in this order, one end of the seventeenth rod (a 17) is movably connected with the middle position of the fourth rod (A4), the other end of the seventeenth rod (a 17) is connected with one end of the eighteenth rod (a 18) through a twenty-first shaft (B21), the other end of the eighteenth rod (a 18) is connected with one end of the nineteenth rod (a 19) through a twenty-second shaft (B22), the other end of the nineteenth rod (a 19) is connected with one end of the twenty-third rod (a 20) through a twenty-second shaft (B23), and the other end of the twenty-fourth rod (a 20) is connected with a traveling member through a twenty-fourth shaft (B24).
7. The multi-terrain traveling unmanned vehicle driven by vehicle body deformation according to any one of claims 1 to 6, wherein the traveling member comprises a cover plate, a one-way bearing is mounted below the cover plate, and a tire is sleeved on the one-way bearing.
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