CN114571911B - Active wheel claw deformation mechanism for high-mobility robot - Google Patents
Active wheel claw deformation mechanism for high-mobility robot Download PDFInfo
- Publication number
- CN114571911B CN114571911B CN202111678410.8A CN202111678410A CN114571911B CN 114571911 B CN114571911 B CN 114571911B CN 202111678410 A CN202111678410 A CN 202111678410A CN 114571911 B CN114571911 B CN 114571911B
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- wheel
- shaft
- lobe
- claw
- steering engine
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- 210000000078 claw Anatomy 0.000 title claims abstract description 75
- 230000007246 mechanism Effects 0.000 title claims abstract description 20
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 15
- 229910052799 carbon Inorganic materials 0.000 claims description 15
- 230000000670 limiting effect Effects 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 8
- 239000004677 Nylon Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention provides a wheel claw deformation mechanism for a high-mobility robot, which comprises a motor bracket, a motor, a wheel shaft, large lobes, small lobes, a steering engine, a rotary crank, a tension spring and wheel claws, wherein the motor is fixed on a frame through the motor bracket; the rotating crank is sleeved at the other end of the wheel shaft, the rotating crank is connected with an output shaft of the steering engine through a connecting rod and a steering engine arm, one end of the tension spring is arranged on the rotating crank, and the other end of the tension spring is provided with the wheel claw. According to the steering engine, the steering engine can actively extend the wheel claws so as to enhance obstacle crossing capability.
Description
Technical Field
The invention belongs to the technology of high-mobility robots, and particularly relates to an active wheel claw deformation mechanism for a high-mobility robot.
Background
Compared with a common wheel type mobile robot, the wheel and claw integrated mobile robot has stronger obstacle crossing capability. The movement speed of the gripper-integrated mobile robot is faster than that of the legged robot. The wheel claw integrated robot combines the advantages of the wheel type robot and the leg type robot, can adapt to more complex terrains and ensures the working efficiency. However, there are few travelling mechanisms capable of switching the wheel claws in the conventional mobile robot, and the movement mode is single, so that the robot is difficult to adapt to complex terrains.
Disclosure of Invention
The invention provides an active wheel claw deformation mechanism for a high-mobility robot.
The technical scheme for realizing the invention is as follows: the utility model provides a high mechanical robot is with wheel claw deformation mechanism, includes motor support, motor, shaft, big lobe, little lobe, steering wheel, rotation crank, extension spring and wheel claw, and the motor is fixed in the frame through the motor support, and the output shaft of motor and the one end fixed connection of shaft, big lobe, little lobe are all fixed with the other end circumference of shaft, and the wheel claw sets up between big lobe, little lobe, and the steering wheel sets up on big lobe; the rotating crank is sleeved at the other end of the wheel shaft in an empty mode, the rotating crank is connected with an output shaft of the steering engine through a connecting rod and a steering engine arm, one end of a tension spring is arranged on the rotating crank, and the other end of the tension spring is arranged on a wheel claw;
when the steering engine moves in the round wheel mode, the motor drives the wheel shaft to rotate, the wheel shaft drives the large and small lobes to rotate, at the moment, the steering engine output shaft does not rotate, the rotating crank does not rotate, and the wheel claws do not extend;
when the steering engine is deformed, the output shaft of the steering engine rotates to drive the rotating crank to rotate to pull the tension spring, the tension spring pulls the wheel claw to extend, and when the wheel claw needs to be retracted, the steering engine reversely rotates to pull the wheel claw to retract in the same transmission mode;
when the wheel claw moves in the mode, the motor drives the wheel shaft to rotate, the wheel shaft drives the large lobe wheel and the small lobe wheel to rotate, the steering engine output shaft does not rotate, the rotating crank does not rotate, and the extending angle of the wheel claw is unchanged.
Preferably, the rack comprises a pipe clamp, a carbon plate, a square pipe end pipe clamp, a square pipe press block and a square pipe press block seat, wherein the pipe clamp is arranged on one surface of the carbon plate; the square tube end pipe clamp is arranged on the other side of the carbon plate, and is fixedly connected with one end of the square carbon tube, and the other end of the square carbon tube, the square tube pressing block and the square tube pressing block seat are sequentially and fixedly connected.
Preferably, the motor is fixed on the frame by a motor bracket.
Preferably, a first octagon is arranged in the large lobe, the rotary crank is sleeved on the sleeve, and the wheel shaft passes through the sleeve and the first octagon to be fixed in the circumferential direction.
Preferably, the small lobe is provided with an axle end retainer ring for preventing axial movement of the axle.
Preferably, a groove is arranged between the big lobe and the small lobe, and the claw is arranged in the groove and hinged with the big lobe and the small lobe.
Preferably, the wheel shaft is provided with a conductive slip ring, the stator end of the conductive slip ring is fixed with the bearing seat in the circumferential direction, the rotor end is fixedly connected with the wheel shaft, the bearing seat is fixedly connected with the frame and is connected with the wheel shaft through a bearing, the electric wire at the input end of the conductive slip ring is connected with a power supply, and the electric wire at the output end is connected with a steering engine.
Preferably, the tail end of the wheel shaft is provided with a limiting block, a second octagonal piece is embedded in the limiting block, the second octagonal piece is circumferentially fixed with the wheel shaft, and the second octagonal piece is circumferentially fixed with the limiting block.
Compared with the prior art, the invention has the remarkable advantages that: 1. according to the invention, through the steering engine, the wheel claws are actively extended out, so that obstacle crossing capability is enhanced; 2. the wheel claws are extended out under the non-obstacle crossing working condition, and the running is not influenced due to the existence of the springs; 3. when the robot runs in the round wheel mode, the robot can run stably due to different diameters of the large and small petal wheels, and the running performance is not affected; 4. the conductive slip ring can prevent winding; 5. the active wheel claw deformation mechanism is simple in structure, light in weight and good in universality, can be used for various land robots, and is also suitable for land-air amphibious robots; 6. the invention has low precision requirement and low cost, and only a small number of parts have the precision requirement; 7. the invention has light weight and good deformation effect, and the large and small lobes, the driving crank and the claw can be made into nylon pieces; 8. the existence of the limiting block reduces the requirement on the steering engine.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
Fig. 1 (a) is a front axle isometric view of the present invention.
Fig. 1 (b) is a rear axle isometric view of the present invention.
Fig. 2 is a cross-sectional view of the present invention.
Fig. 3 (a) is a front view of the circular wheel mode of the present invention.
Fig. 3 (b) is a front view of the claw pattern of the present invention.
Fig. 4 is an application example diagram of the present invention patent.
Detailed Description
A wheel claw deformation mechanism for a high-mobility robot comprises a motor bracket 18, a motor 5, a wheel shaft 19, large lobes 8, small lobes 10, a steering engine 16, a rotary crank 15, a tension spring 13 and a wheel claw 9.
The motor 5 is fixed on the frame through a motor bracket 18, an output shaft of the motor 5 is fixedly connected with one end of a wheel shaft 19, the large lobe wheel 8 and the small lobe wheel 10 are circumferentially fixed with the other end of the wheel shaft, the claw 9 is arranged between the large lobe wheel 8 and the small lobe wheel 10, and the steering engine 16 is arranged on the large lobe wheel 8; the rotating crank 15 is sleeved at the other end of the wheel shaft, the connecting rod and the rudder arm through which the rotating crank 15 passes are connected with the output shaft of the steering engine, one end of the tension spring 13 is arranged on the rotating crank 15, and the other end of the tension spring is arranged on the wheel claw.
When the motor 5 moves in the circular wheel mode, the wheel shaft 19 is driven to rotate, the wheel shaft 19 drives the large lobe wheel 8 and the small lobe wheel 10 to rotate, at the moment, the output shaft of the steering engine 16 does not rotate, the rotary crank 15 does not rotate, and the wheel claw 9 does not extend.
When the steering engine 16 is deformed, the output shaft of the steering engine 16 rotates to drive the rotating crank 15 to rotate, the tension spring 13 is pulled, the tension spring 13 pulls the wheel claw 9 to extend, when the wheel claw 9 needs to be retracted, the steering engine 16 reversely rotates, and the wheel claw 9 is pulled to be retracted through the same transmission mode.
When the wheel claw mode moves, the motor 5 drives the wheel shaft 19 to rotate, the wheel shaft 19 drives the large lobe wheel 8 and the small lobe wheel 10 to rotate, the output shaft of the steering engine 16 does not rotate, the rotating crank 15 does not rotate, and the extending angle of the wheel claw 9 is unchanged.
In a further embodiment, the rack is composed of a pipe clamp 1, a carbon plate 2, a square pipe end pipe clamp 3, a square pipe pressing block 6 and a square pipe pressing block seat 7. Wherein the pipe clamp 1 is arranged on one surface of the carbon plate 2; the square tube end pipe clamp 3 is arranged on the other side of the carbon plate 2, the square tube end pipe clamp 3 is fixedly connected with one end of the square carbon tube 4, and the other end of the square carbon tube 4, the square tube pressing block 6 and the square tube pressing block seat 7 are sequentially and fixedly connected.
In a further embodiment, the motor 5 is fixed to the frame by a motor bracket 18.
In a further embodiment, a first octagon 22 is arranged in the large lobe 8, the rotary crank 15 is sleeved on the sleeve 21, and the wheel shaft 19 passes through the sleeve 21 and the first octagon 22 to be fixed circumferentially. In order to prevent the axial movement of the actuating end relative to the shaft, the end of the wheel shaft 19 is provided with a shaft end retainer 12, one end of the shaft end retainer 12 is contacted with the small lobe 10, and a screw is penetrated in the middle of the shaft end retainer 12 and fixedly connected with the wheel shaft 19.
In a further embodiment, a groove is arranged between the large lobe 8 and the small lobe 10, and the claw 9 is arranged in the groove and hinged with the large lobe 8 and the small lobe 10.
In a further embodiment, the conductive slip ring 14 is arranged on the axle 19 in order to prevent entanglement. The stator end is fixed with the bearing seat 17 in the circumferential direction, the rotor end is fixedly connected with the wheel axle 19, the bearing seat 17 is fixedly connected with the frame, and the bearing seat is connected with the wheel axle 19 through a bearing. The electric wire at the input end of the conductive slip ring 19 is connected with a power supply, and the electric wire at the output end is connected with the steering engine 16.
In a further embodiment, the end of the axle 19 is provided with a stop 13 in order to prevent over-rotation of the crank. The second octagon piece 20 is embedded in the limiting block 13, the second octagon piece 20 is circumferentially fixed with the wheel shaft 19, and the second octagon piece 20 and the limiting block 13 are circumferentially fixed.
In the circular wheel mode, the output shaft of the motor 5 drives the wheel shaft 19 to rotate, and the wheel shaft 19 drives the rotor end of the conductive slip ring 14, the first octagonal piece 22 and the second octagonal piece 20 to rotate. The first octagon 22 rotates the large lobes 8 and the large lobes 8 rotate the small lobes 10, thereby effecting circular-lobe mode motion. The second octagon 20 drives the limiting block 13 to rotate, so that the limiting block 13 and the wheel shaft 19 are relatively static, and a limiting effect can be achieved. In the process, the rotation of the rotor end of the conductive slip ring 14 and the large lobe wheel 8 is consistent with that of the wheel shaft 19, so that wires at the rotor end of the conductive slip ring 14 are not wound after being connected with the steering engine 16, and the normal running function is ensured.
In the deformation process, taking the deformation process of extending the wheel claw as an example, the output shaft of the steering engine 16 rotates, the steering engine arm and the connecting rod are used for driving the rotary crank 15 to rotate until the rotary crank 15 rotates to the end position to be in contact with the other surface of the limiting block 13, and the rotary crank 15 drives the wheel claw 9 to rotate through the tension spring 13. In this process, since the crank 15 is not sleeved on the sleeve 21 and the sleeve 21 is not sleeved on the axle 19, the crank 15 can rotate relative to the axle 19, and the rotation of the crank is only related to the rotation of the output shaft of the steering engine 16. After the wheel claw stretches out, the tail end of the wheel claw is penetrated with a long screw, so that the limit function can be realized, and the position of the wheel claw relative to the round wheel is ensured not to change when the wheel claw is over the obstacle. After the wheel claw is retracted, due to the diameter difference between the large and small lobed wheels, even if the wheel claw is not fully retracted due to the problems of the steering engine that the steering engine is not rotated in place, gaps among parts and the like, the stable movement of the wheels is not influenced, and the fault tolerance of the structure is improved.
In the claw mode, the output shaft of the motor 5 drives the wheel shaft 19 to rotate, and the wheel shaft 19 drives the rotor end of the conductive slip ring 14, the first octagonal piece 22 and the second octagonal piece 20 to rotate. The first octagon 22 rotates the large lobes 8 and the large lobes 8 rotate the small lobes 10. At this time, the wheel claw is extended, and the steering engine does not rotate at this time, so the rotating crank does not rotate, but when the steering engine runs forward in the wheel claw mode, the tension spring is lengthened because the wheel claw is pressed back by the ground, so when the steering engine runs in the wheel claw mode, the extension of the wheel claw does not influence the stable movement of the machine because of the ground pressing back.
The active wheel claw deformation mechanism should pay attention to in the actual use process: the active wheel claw deformation mechanisms are distributed on two sides of the robot in a mirror image mode, the number of wheels is not limited in practical use, the active wheel claw deformation mechanisms can be selected according to needs, and the number of wheel claws is not limited to the number shown in the figure.
The invention discloses an application of the wheel claw deformation mechanism to an amphibious robot, as shown in fig. 4. In the example, the active wheel claw deformation wheels are distributed on two sides of the robot in a mirror image mode, when obstacle crossing is not needed, the robot stably runs on the ground in a round wheel mode, when obstacle crossing is needed, the wheel claws extend out through the deformation process and run in a wheel claw mode, obstacle crossing performance is improved, the stability of movement is not affected, after obstacle crossing is finished, the wheel claws retract through the deformation process, and the robot runs in a round wheel mode, so that the three-mode movement switching process of the round wheel mode, the wheel claw mode and the round wheel mode is finished.
Claims (7)
1. The utility model provides a high mechanical robot is with wheel claw deformation mechanism, a serial communication port, including motor support (18), motor (5), shaft (19), big lobe (8), little lobe (10), steering wheel (16), rotation crank (15), extension spring (13) and wheel claw (9), motor (5) are fixed in the frame through motor support (18), the output shaft of motor (5) is fixed with one end of shaft (19), big lobe (8), little lobe (10) are all fixed with the other end circumference of shaft, wheel claw (9) set up between big lobe (8), little lobe (10), steering wheel (16) set up on big lobe (8); the rotating crank (15) is sleeved at the other end of the wheel shaft in an empty mode, the rotating crank (15) is connected with an output shaft of the steering engine through a connecting rod and a steering engine arm, one end of a tension spring (13) is arranged on the rotating crank (15), and the other end of the tension spring is arranged on a wheel claw;
when the steering engine moves in the circular wheel mode, the motor (5) drives the wheel shaft (19) to rotate, the wheel shaft (19) drives the large petal wheel (8) and the small petal wheel (10) to rotate, at the moment, the output shaft of the steering engine (16) does not rotate, the rotating crank (15) does not rotate, and the wheel claw (9) does not extend out;
when the steering engine (16) is deformed, an output shaft of the steering engine (16) rotates to drive a rotating crank (15) to rotate, a tension spring (13) is pulled, the tension spring (13) pulls the wheel claw (9) to extend, and when the wheel claw (9) needs to be retracted, the steering engine (16) reversely rotates to pull the wheel claw (9) to retract in the same transmission mode;
when the wheel claw mode moves, the motor (5) drives the wheel shaft (19) to rotate, the wheel shaft (19) drives the large lobe wheel (8) and the small lobe wheel (10) to rotate, the output shaft of the steering engine (16) does not rotate, the rotating crank (15) does not rotate, and the extending angle of the wheel claw (9) is unchanged;
the electric steering engine is characterized in that an electric conduction slip ring (14) is arranged on the wheel shaft (19), a stator end of the electric conduction slip ring (14) is circumferentially fixed with the bearing seat (17), a rotor end of the electric conduction slip ring is fixedly connected with the wheel shaft (19), the bearing seat (17) is fixedly connected with the frame and is connected with the wheel shaft (19) through a bearing, an electric wire at an input end of the electric conduction slip ring (19) is connected with a power supply, and an electric wire at an output end of the electric conduction slip ring is connected with the steering engine (16).
2. The wheel claw deformation mechanism for the high-mobility robot according to claim 1, wherein the rack comprises a pipe clamp (1), a carbon plate (2), a square pipe end pipe clamp (3), a square pipe press block (6) and a square pipe press block seat (7), and the pipe clamp (1) is arranged on one surface of the carbon plate (2); the square tube end pipe clamp (3) is arranged on the other side of the carbon plate (2), the square tube end pipe clamp (3) is fixedly connected with one end of the square carbon tube (4), and the other end of the square carbon tube (4), the square tube pressing block (6) and the square tube pressing block seat (7) are sequentially and fixedly connected.
3. The high-mobility robot-use gripper deforming mechanism according to claim 1, wherein the motor (5) is fixed to the frame by a motor bracket (18).
4. The wheel claw deformation mechanism for the high-mobility robot according to claim 1, wherein a first octagonal piece (22) is arranged in the large lobe wheel (8), the rotary crank (15) is sleeved on the sleeve (21) in a hollow mode, and the wheel shaft (19) penetrates through the sleeve (21) and is circumferentially fixed with the first octagonal piece (22).
5. The high mobility robot jaw deformation mechanism as claimed in claim 4, wherein the small lobes (10) are provided with shaft end retainers (12) for preventing axial movement of the wheel shaft (19).
6. The high mobility robot jaw deforming mechanism according to claim 1, wherein a groove is provided between the large lobe (8) and the small lobe (10), and the jaw (9) is provided in the groove and hinged to the large lobe (8) and the small lobe (10).
7. The wheel claw deformation mechanism for the high-mobility robot according to claim 1, wherein a limiting block (13) is arranged at the tail end of the wheel shaft (19), a second octagonal piece (20) is embedded in the limiting block (13), the second octagonal piece (20) is circumferentially fixed with the wheel shaft (19), and the second octagonal piece (20) is circumferentially fixed with the limiting block (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111678410.8A CN114571911B (en) | 2021-12-31 | 2021-12-31 | Active wheel claw deformation mechanism for high-mobility robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111678410.8A CN114571911B (en) | 2021-12-31 | 2021-12-31 | Active wheel claw deformation mechanism for high-mobility robot |
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| Publication Number | Publication Date |
|---|---|
| CN114571911A CN114571911A (en) | 2022-06-03 |
| CN114571911B true CN114571911B (en) | 2024-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111678410.8A Active CN114571911B (en) | 2021-12-31 | 2021-12-31 | Active wheel claw deformation mechanism for high-mobility robot |
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| CN (1) | CN114571911B (en) |
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| CN108639177A (en) * | 2018-05-09 | 2018-10-12 | 南京赫曼机器人自动化有限公司 | A kind of autonomous full traversal climbing robot |
| CN108657302A (en) * | 2018-07-04 | 2018-10-16 | 广西电网有限责任公司电力科学研究院 | A kind of climbing level robot and its pole-climbing method |
| CN109278887A (en) * | 2018-10-19 | 2019-01-29 | 中国科学院深圳先进技术研究院 | A kind of claw robot obstacles-surmounting wheel |
| CN109533069A (en) * | 2018-12-14 | 2019-03-29 | 中国科学院深圳先进技术研究院 | The permanent wheeled barrier-surpassing robot of torque |
| WO2020119530A1 (en) * | 2018-12-14 | 2020-06-18 | 中国科学院深圳先进技术研究院 | Constant-torque wheeled obstacle-crossing robot |
| CN109623774A (en) * | 2019-01-07 | 2019-04-16 | 安徽工程大学 | A kind of Double-wheel self-balancing robot |
| CN110843413A (en) * | 2019-11-26 | 2020-02-28 | 哈尔滨工业大学 | Obstacle-crossing wheel applied to field severe environment |
| WO2021161591A1 (en) * | 2020-02-14 | 2021-08-19 | 日本精工株式会社 | Wheel and vehicle |
| JPWO2021161591A1 (en) * | 2020-02-14 | 2021-08-19 | ||
| CN112498034A (en) * | 2020-11-15 | 2021-03-16 | 南京理工大学 | Wheel-propeller integrated air-ground amphibious robot |
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