CN114771151A - Obstacle-crossing traveling wheel, traveling mechanism and method for controlling traveling mechanism to cross obstacles - Google Patents

Obstacle-crossing traveling wheel, traveling mechanism and method for controlling traveling mechanism to cross obstacles Download PDF

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Publication number
CN114771151A
CN114771151A CN202210576753.1A CN202210576753A CN114771151A CN 114771151 A CN114771151 A CN 114771151A CN 202210576753 A CN202210576753 A CN 202210576753A CN 114771151 A CN114771151 A CN 114771151A
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China
Prior art keywords
obstacle
walking
wheel
crossing
walking wheel
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Chinese (zh)
Inventor
宾光富
董楚峰
汪志能
罗剑英
刘衡
潘阳
佘承其
稂亚军
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Hunan Hengyue Heavy Steel Steel Structure Engineering Co ltd
Hunan University of Science and Technology
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Hunan Hengyue Heavy Steel Steel Structure Engineering Co ltd
Hunan University of Science and Technology
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Priority to CN202210576753.1A priority Critical patent/CN114771151A/en
Publication of CN114771151A publication Critical patent/CN114771151A/en
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    • 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
    • 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
    • B62D57/028—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 having wheels and mechanical legs

Abstract

The invention discloses a barrier-crossing walking wheel, a walking mechanism and a barrier-crossing method for controlling the walking mechanism, belonging to the technical field of walking machinery, wherein the barrier-crossing walking wheel comprises a walking wheel body, a plurality of guide slideways are circumferentially distributed in the walking wheel body, the guide slideways extend along the radial direction of the walking wheel body and are communicated with the outside, support legs are slidably connected with the guide slideways, a control mechanism for controlling the support legs to extend out of the guide slideways is arranged in the walking wheel body, a barrier-crossing area for crossing barriers can be formed between two adjacent support legs along with the extension of the support legs, the barrier-crossing walking wheel provides a brand new barrier-crossing mode, when the walking wheel crosses barriers, the barrier-crossing area formed by two adjacent support legs can accommodate the barriers in the barrier-crossing area, the barriers are not required to be used as support points, the barriers directly cross the barriers, and then the walking wheel is not required to be worried about the obstacles to prick or be clamped between the support legs, the obstacle-crossing traveling wheel and the traveling mechanism can be widely applied to various traveling machines.

Description

Obstacle-crossing traveling wheel, traveling mechanism and method for controlling traveling mechanism to cross obstacles
Technical Field
The invention relates to the technical field of walking machinery, in particular to an obstacle-crossing walking wheel, a walking mechanism and an obstacle-crossing method for controlling the walking mechanism.
Background
There often exist some artifical operation that is difficult to competence in the life, these operations or work degree of difficulty itself is higher, or the risk is great can cause harm to human physical and mental health, if carry out the operation of paint spraying to wind power tower section of thick bamboo inner wall, cause destruction to the ground material of handling very easily when artifical entering pipeline operation on the one hand, on the other hand because the relatively poor health that is unfavorable for the operation personnel of circulation of air in the tower section of thick bamboo, if can adopt the robot to replace the manual work to carry out these operations then can solve these problems completely, when carrying out paint spraying to wind power tower section of thick bamboo, can install on the walking robot from taking spraying paint equipment, then utilize walking robot entering pipeline to accomplish the spraying operation, then need not to consider the circulation of air problem in the tower section of thick bamboo.
However, a plurality of metal nails with high height exist on the ground of the wind power tower, and the walking wheels adopted by the common walking type robot are difficult to deal with the bottom surface with the metal nails. Although some walking wheels capable of crossing obstacles gradually appear in the market in recent years, the walking wheels are limited by a mode of crossing obstacles, the walking wheels can only cross general obstacles and are difficult to cross metal nails, because the current walking wheels capable of crossing obstacles usually need to be supported by the obstacles to jack up the walking wheels to cross the obstacles, the metal nails are difficult to be used as supporting points of the walking wheels, and the walking wheels are easy to prick or be clamped into a walking mechanism of the walking wheels by using the metal nails as the supporting points, for example, the patent number is 'CN 112407094A', the patent name of 'a walking wheel capable of collecting and releasing supporting feet' discloses the walking wheels, which comprise a tire and a wheel connected to one side of the tire, the other side of a wheel web is provided with a plurality of supporting feet arranged along the circumferential direction of the tire, the plurality of supporting feet are hinged with a base in the tire and form a circle on one side of the tire, the outer side of the supporting foot is provided with a supporting foot cover, and the supporting foot is unfolded or folded through a hydraulic folding and unfolding mechanism. When the obstacle needs to be crossed, the supporting feet are unfolded, the unfolded supporting feet use the obstacle as a supporting point, and the whole tire is jacked up to cross the obstacle, but the supporting feet are difficult to use when the supporting feet meet thin metal nails, and even if the supporting feet are common obstacles, the obstacles are easy to be clamped between the two supporting feet of the tire when the obstacles are used as the supporting point.
Disclosure of Invention
The invention aims to solve the technical problems and provides an obstacle-crossing travelling wheel, a travelling mechanism and a method for controlling the travelling mechanism to cross obstacles, wherein the travelling wheel provides a brand-new obstacle-crossing mode, an obstacle does not need to be pressed by taking an obstacle as a supporting point as a traditional travelling wheel, the obstacle-crossing travelling wheel stretches out supporting legs and forms an obstacle-crossing area between two adjacent supporting legs, when the obstacle-crossing travelling wheel crosses the obstacle, the obstacle-crossing area between the two supporting legs in contact with the ground can accommodate the obstacle, so that a travelling wheel body directly crosses the obstacle without supporting by the obstacle, and further, the problem that the travelling wheel is damaged by the obstacle clamped between the supporting legs or the sharp obstacle is not needed to be worried about.
In order to achieve the purpose, the invention provides the following scheme: the invention discloses an obstacle-crossing travelling wheel which comprises a travelling wheel body, wherein a plurality of guide slideways are distributed in the inner circumference of the travelling wheel body, the guide slideways extend along the radial direction of the travelling wheel body and are communicated with the outside, supporting legs are connected in the guide slideways in a sliding mode, a control mechanism for controlling the supporting legs to extend out of the guide slideways is arranged in the travelling wheel body, and an obstacle-crossing area for crossing obstacles can be formed between every two adjacent supporting legs along with the extension of the supporting legs.
Preferably, control mechanism includes that coaxial rotation connects the inside drive wheel dish and the drive of walking wheel body drive wheel dish pivoted rotating device, a plurality of eccentric chutes have been laid to circumference on the quotation of drive wheel dish, sliding connection has the drive slider in the eccentric chute, the drive slider is articulated with the supporting leg.
Preferably, a driving shaft is fixed on the travelling wheel body, and the driving wheel disc is rotatably connected to the driving shaft.
Preferably, rotating device includes the worm gear structure and fixes this internal rotation motor of walking wheel, the worm wheel coaxial fixation in the worm gear structure is in on the driving wheel dish, the drive shaft with the worm wheel rotates to be connected, worm in the worm gear structure rotates to be connected this internal walking wheel, just the end of worm pass through the shaft coupling with the output shaft coaxial coupling of rotating the motor.
Preferably, the both ends of worm are connected through support ring and worm mount pad rotation respectively and are in the walking wheel is originally internal, rotate the motor with the worm is equipped with the one end of support ring is connected.
Preferably, the direction slide is the rectangle slide, the supporting leg be with rectangle slide assorted rectangle branch, rectangle branch can stretch out the terminal surface of rectangle slide one end is the arc-shaped face.
Preferably, the length L of the barrier crossing region satisfies the following formula:
2lmin≤L≤lmax+lmin
Figure BDA0003660598670000031
Figure BDA0003660598670000032
Figure BDA0003660598670000033
wherein lminThe crossing distance between the front supporting leg in the obstacle crossing area and the obstacle is the shortest in the advancing direction; lmaxThe turning distance of the front supporting leg in the obstacle crossing area to the farthest obstacle is along the advancing direction; the height of the barrier is H; the extension length of the supporting leg is l; the radius of the walking wheel body is R; theta is an included angle between the supporting leg and the ground; w is the included angle between two supporting legs.
The walking mechanism comprises a mounting platform for mounting the robot body and the obstacle-crossing walking wheel, the walking wheel bodies are respectively and rotatably connected to two sides of the mounting platform, and a driving mechanism for driving the walking wheel bodies to rotate is arranged at the bottom of the mounting platform.
Preferably, the guide slide ways of the walking wheel bodies are arranged in a staggered manner, and the guide slide ways of the walking wheel bodies are arranged in a staggered manner and are adjacent to each other on the opposite side of the mounting platform.
Also discloses a barrier crossing method of the travelling mechanism, which is used for controlling the travelling mechanism and comprises the following steps:
firstly, the walking mechanism drives into the vicinity of an obstacle under the posture that the supporting legs do not extend out of the walking wheel body;
then, the control mechanism controls the extension of the supporting legs on all the walking wheel bodies, at the moment, two supporting legs in the walking wheel body to cross the obstacle are ensured to be in contact with the ground at the same time, then a double-support type wheel is formed, one supporting leg in the adjacent walking wheel bodies in the same group is in contact with the ground to form a single-support type wheel, then the walking wheel body on the opposite side of the double-support type wheel forms a single-support type wheel, the walking wheel body on the opposite side of the single-support type wheel forms a double-support type wheel, the extension length of the supporting legs of the double-support type wheel is determined according to the length of the obstacle, and the extension length of the single-support type wheel is required to ensure that the mounting platform is kept in a horizontal state;
then, when crossing the obstacle, the extension length of the supporting leg of the walking wheel body needs to be changed along with the change of the angle turned from the initial state;
and finally, repeating the steps until all the walking wheel bodies in the same group in the walking mechanism cross the obstacle.
Preferably, the method comprises the following steps:
the extension lengths of the supporting legs of the single-support wheel and the double-support wheel are respectively l1、l2: and l1、l2The following formula needs to be satisfied:
(l1+R)sinθ≥H+R
and (l)1+R)sinθ＝l2+R
When the obstacle is crossed, the extension length of the supporting leg of the single-support wheel needs to satisfy the following formula along with the change of the angle rotated from the initial state:
Figure BDA0003660598670000041
when the obstacle is crossed, the extension length of the supporting legs of the double-support type wheel needs to satisfy the following formula along with the change of the angle turned from the initial state:
Figure BDA0003660598670000042
wherein the barrier height is H; the radius of the walking wheel body is R; the included angle between the supporting leg and the ground is formed; the angle of the walking wheel body of the single-support wheel is rotated; the angle that the walking wheel body of the double-support wheel rotates.
Compared with the prior art, the invention has the following technical effects:
1. the invention discloses a barrier-crossing travelling wheel, wherein a travelling wheel body of the barrier-crossing travelling wheel is provided with a supporting leg which can extend out and retract, when the supporting leg extends out of the travelling wheel body, a barrier-crossing area is formed between two adjacent supporting legs, and the barrier-crossing area can accommodate an obstacle on the ground in the rotating process of the travelling wheel body, so that the travelling wheel body directly crosses the obstacle, the obstacle does not need to be pressed by taking the obstacle as a supporting point like the traditional travelling wheel, and therefore, the travelling wheel does not need to be worried about that the sharp obstacle can prick the travelling wheel or the obstacle is clamped between the supporting legs, and the travelling wheel can be widely applied to any machinery needing travelling wheels, such as automobiles, robots and the like.
2. The invention discloses a traveling mechanism, wherein robots with various functions, such as a paint spraying robot or a cleaning robot and a fire fighting robot, can be installed through an installation platform, then obstacle-crossing traveling wheels on two sides of the installation platform can enable the robot to avoid worrying about the problem that obstacles exist on the ground, and if the paint spraying robot sprays paint inside a wind power tower, metal nails on the ground are completely avoided, the traveling mechanism can be widely installed in any machinery needing the traveling mechanism, such as an automobile or a robot.
3. The invention discloses a method for controlling a walking mechanism to cross obstacles, which can effectively control the walking mechanism to cross obstacles and can ensure that an installation platform is always kept in a horizontal state when the walking mechanism crosses the obstacles, thereby ensuring the stable work of a robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a three-dimensional structure view of a traveling mechanism with a support leg extended;
FIG. 2 is a perspective view of the traveling mechanism with the support legs retracted;
FIG. 3 is a perspective view of the outboard face of the drive sheave;
FIG. 4 is a schematic structural view of the outboard face of the drive sheave;
FIG. 5 is a perspective view of the inboard side of the drive sheave;
fig. 6 is a schematic perspective view of a traveling wheel body;
fig. 7 is a cross-sectional view of a road wheel body;
fig. 8 is a cross-sectional view of another orientation of the road wheel body;
FIG. 9 is a schematic sketch of a barrier-crossing region formed by a road wheel body;
FIG. 10 is a schematic diagram of a travel mechanism;
FIG. 11 is a schematic view of the extension length compensation of the support legs of the front and rear traveling wheel bodies;
FIG. 12 is a schematic view of the travel mechanism away from an obstacle;
FIG. 13 is a schematic view of an initial state of the traveling mechanism during obstacle crossing;
FIG. 14 is a schematic view of the walking mechanism during obstacle crossing when the walking mechanism turns over 36 degrees;
FIG. 15 is a schematic view of the walking mechanism during crossing over an obstacle by 72 degrees;
FIG. 16 is a schematic view of the walking mechanism during crossing over an obstacle by 108 degrees;
fig. 17 is a schematic view showing an end state of an obstacle detouring process of the traveling mechanism.
Description of reference numerals: 1. the walking wheel body; 2. a guide slide way; 3. supporting legs; 4. a barrier-crossing region; 5. a drive wheel disc; 6. an eccentric chute; 7. driving the slide block; 8. a drive shaft; 9. rotating the motor; 10. a worm gear; 11. a worm; 12. a coupling; 13. a worm mount; 14. a wheel surface; 15. a circular arc surface; 16. mounting a platform; 17. a drive motor; 18. and (4) metal nails.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The embodiment discloses a barrier-crossing walking wheel, as shown in fig. 1 to 17, including walking wheel body 1, a plurality of guide slide ways 2 are arranged in the walking wheel body 1 along the circumferential direction, the guide slide ways 2 extend along the radial direction of the walking wheel body 1 and are communicated with the outside, supporting legs 3 are connected in the guide slide ways 2 in a sliding manner, a control mechanism is arranged in the walking wheel body 1, the supporting legs 3 can be controlled to extend out or retract into the guide slide ways 2 through the control mechanism, when the supporting legs 3 extend out of the guide slide ways 2 at the control mechanism, barrier-crossing areas 4 for crossing barriers can be formed between two adjacent supporting legs 3. Referring to fig. 9 to 17, when the travelling wheel body 1 moves to the vicinity of an obstacle (such as a metal nail 18), the supporting legs 3 on the walking wheel body 1 can extend out of the guide slide way 2 under the control of the control mechanism, thereby jacking up the walking wheel body 1, forming an obstacle crossing area 4 between two adjacent supporting legs 3, along with the rotation of the walking wheel body 1, covering the obstacle inside the obstacle crossing area 4, therefore, the walking wheel body 1 directly crosses over the obstacle, instead of the traditional walking wheel which can cross over the obstacle and needs to take the obstacle as a supporting point, the supporting leg 3 is lapped on the obstacle to cross over the obstacle, so that it can cross even when facing an obstacle such as a metal pin 18, and there is no fear that the metal pin 18 or the wheel face 14 of the traveling wheel body 1 is pierced, and the obstacle is caught between the two support legs 3.
In this embodiment, as shown in fig. 1 to 17, the control mechanism includes a driving wheel disk 5 and a rotating device, and the driving wheel disk 5 is coaxially and rotatably connected inside the road wheel body 1. A plurality of eccentric chutes 6 are circumferentially distributed on the disc surface of the driving wheel disc 5, driving slide blocks 7 are slidably connected in the eccentric chutes 6, and the driving slide blocks 7 are hinged with the supporting legs 3. Under the drive of the rotating device, the driving wheel disc 5 can be driven to rotate in two forward and reverse directions, and along with the forward or reverse rotation of the driving wheel disc 5, the driving slide block 7 can slide outwards or inwards along the eccentric chute 6, so that the supporting leg 3 is pushed to extend outwards or retract inwards from the guide slide way 2. Set up drive rim plate 5 and can realize driving supporting leg 3 simultaneously, compare and set up its gliding mechanism of drive alone in every supporting leg 3, the mode structure that sets up drive rim plate 5 is simple more feasible.
Further, in this embodiment, as shown in fig. 1 to 17, a driving shaft 8 is fixed on the traveling wheel body 1, the driving wheel disc 5 is rotatably connected to the driving shaft 8, specifically, an axle center hole is provided at the axle center of the driving wheel disc 5, and then the axle center hole is connected to the driving shaft 8 through a bearing.
Further, in the present embodiment, as shown in fig. 1 to 17, the rotating means includes a worm gear structure and a rotating motor 9; worm wheel 10 in the worm gear structure is coaxially fixed on drive wheel disc 5, worm wheel 10 is connected with drive shaft 8 rotation equally, and worm 11 in the worm gear structure rotates to be connected in walking wheel body 1. The rotating motor 9 is fixed inside the walking wheel body 1, and an output shaft of the rotating motor 9 is coaxially connected with the end of the worm 11 through a coupling 12.
Further, in the present embodiment, as shown in fig. 1 to 17, two ends of the worm 11 are respectively rotatably connected in the walking wheel body 1 through the support ring and the worm mounting seat 13, one end of the worm 11 is inserted into the worm mounting seat 13 and rotatably connected therewith through a bearing, the other end of the worm 11 is connected with the bearing in the support ring, and the end of the end is connected with the output shaft of the rotating motor 9 through the coupling 12.
In this embodiment, as shown in fig. 1 to 17, the guide chute 2 is a rectangular chute, the support leg 3 is a rectangular support rod matched with the rectangular chute, and an end face of the rectangular support rod, which can extend out of one end of the rectangular chute, is an arc surface 15, so that the problem of excessive torque caused by friction when crossing an obstacle can be reduced. Simultaneously at the machinery of installing this walking wheel body 1 at the in-process of marcing, when walking wheel body 1 upset is flexible, the supporting leg 3 of mechanical preceding walking wheel body 1 can be very likely to appear and the supporting leg 3 of walking wheel body 1 or the supporting leg 3 of walking wheel body 1 after can dragging the condition of the supporting leg 3 of walking wheel body 1 before, and the problem that this condition appears then can be solved to arc surface 15, because it guarantees that the device horizontal direction that adopts this walking wheel body 1 can slide one section distance.
In this embodiment, as shown in fig. 1 to 17, the length L of the barrier spanning region 4 needs to satisfy the following formula:
2lmin≤L≤lmax+lmin
Figure BDA0003660598670000071
Figure BDA0003660598670000081
Figure BDA0003660598670000082
wherein lminThe turning distance of the support leg 3 at the front of the obstacle crossing area 4 and an obstacle (such as a metal nail 18) along the advancing direction; lmaxThe turning distance of the support leg 3 which is far ahead in the obstacle crossing area 4 and the obstacle is the farthest along the advancing direction; the height of the obstacle is H; the supporting legs 3 extend out to be l; the radius of the walking wheel body 1 is R; theta is an included angle between the support leg 3 and the ground; w is the angle between the two support legs 3.
Further, in the present embodiment, as shown in fig. 1 to 17, there are five support legs 3, and the included angles w between the five support legs 3 are all 72 °. Of course, the number of support legs 3 is not limited to five, and may be six or more, and only provides a preferred embodiment.
In this embodiment, as shown in fig. 1 to 17, the walking wheel body 1 can be covered with rubber material, so that the walking wheel body 1 can be directly pressed when encountering a micro-shaped obstacle without extending the supporting legs 3.
Example 2
The embodiment discloses a running gear, including the mounting platform 16 that is used for installing the robot and the obstacle-crossing walking wheel in embodiment 1, wherein two sets of walking wheel bodies 1 rotate respectively and connect in the both sides of mounting platform 16, and the bottom of mounting platform 16 is equipped with the pivoted actuating mechanism of driving walking wheel body 1. At least two walking wheel bodies 1 are arranged in each group of walking wheel bodies 1, but preferably, the two walking wheel bodies 1 in each group are relatively simple to control. Can install the robot body that has various functions on mounting platform 16 in advance during the use, if be used for carrying out the painting robot who sprays paint for wind power tower section of thick bamboo inner wall, then can put into wind power tower section of thick bamboo with this robot and carry out the operation of spraying paint. Before meetting the barrier, supporting leg 3 on the walking wheel body 1 does not all stretch out, in case the supervisory equipment from the area has found the place ahead on the robot has the barrier, walking mechanism is close behind the barrier, can stretch out walking wheel body 1 through control mechanism drive supporting leg 3, walking mechanism and the whole lifting that can obtain of robot this moment, then after the same group walking wheel body 1 of one side that has the barrier is whole to pass through the barrier, can be through control mechanism withdrawal supporting leg 3, make walking wheel body 1 normally roll again.
In order to ensure that the travelling mechanism after the supporting legs 3 extend out always keeps a certain height when moving, and therefore when the robot is ensured to stably advance, in the embodiment, as shown in fig. 1 to 17, the guide slideways 2 of two adjacent travelling wheel bodies 1 in the same group are arranged in a staggered manner, and the guide slideways 2 of two adjacent travelling wheel bodies 1 on the opposite side of the mounting platform 16 are arranged in a staggered manner. Specific here takes two walking wheel bodies 1 of every group, then there are five direction slides 2 on every walking wheel body 1 as an example, refer to fig. 1, when one supporting leg 3 among the walking wheel body 1 of the front right contacts ground (be single support formula state promptly) in mounting platform 16, have two supporting legs 3 to contact ground (be double support formula state) among the walking wheel body 1 of the front left side, two supporting legs 3 among the walking wheel body 1 of the back right side contact ground (double support formula state), one supporting leg 3 among the walking wheel body 1 of the back left side contacts ground (single support formula state). Namely, the walking wheel body 1 in the single support type state is staggered by 36 degrees with the supporting legs 3 of the walking wheel body 1 in the double support type state. When an obstacle is encountered, the support legs 3 in the single-support state and the support legs 3 in the double-support state respectively have different extending lengths, but need to be adjusted constantly to be matched with each other to keep the mounting platform 16 in a horizontal state all the time.
Further, in the present embodiment, as shown in fig. 1 to 17, the driving mechanism includes a driving motor 17 disposed at the bottom of the mounting platform 16, an output shaft of the driving motor 17 is connected to the driving shaft 8, and the walking wheel body 1 is driven to rotate by the driving motor 17.
Example 3
The embodiment provides a barrier crossing method for a travelling mechanism, which is used for controlling the travelling mechanism in embodiment 2, and as shown in fig. 1 to 17, the method comprises the following steps:
firstly, the walking mechanism drives into the vicinity of an obstacle under the posture that the supporting legs 3 do not extend out of the walking wheel body 1;
then, the supporting legs 3 on all the walking wheel bodies 1 are controlled to extend out through a control mechanism, at the moment, two supporting legs 3 in the walking wheel body 1 to cross the obstacle need to be ensured to be simultaneously contacted with the ground, then double-support type wheels are formed, one supporting leg 3 in the adjacent walking wheel bodies 1 in the same group is contacted with the ground to form a single-support type wheel, then the walking wheel body 1 on the opposite side of the double-support type wheel forms a single-support type wheel, the walking wheel body 1 on the opposite side of the single-support type wheel forms a double-support type wheel, the extending length of the supporting leg 3 of the double-support type wheel is determined according to the length of the obstacle, and the extending length of the single-support type wheel needs to ensure that the mounting platform 16 keeps a horizontal state;
then, when crossing the obstacle, the extending length of the supporting legs 3 of all the walking wheel bodies 1 needs to be changed along with the change of the angle turned from the initial state; when the walking mechanism encounters an obstacle, the number of the supporting legs 3, which are in contact with the ground, of the front walking wheel body 1 and the rear walking wheel body 1 is different, namely the supporting postures are different, so that if the lengths of the supporting legs 3 are kept unchanged in the turning process, the central point of the walking wheel body 1 moves upwards in an arc shape, and then the extending lengths of the supporting legs 3 of all the walking wheel bodies 1 need to be changed along with the change of the angle turned from the initial state;
and finally, repeating the steps until all the walking wheel bodies 1 in the same group in the walking mechanism cross the obstacle.
Further, when the extension length of the support leg 3 of the walking wheel body 1 changes along with the change of the turning angle from the initial state, the specific extension length of the support leg 3 needs to satisfy the following steps, as shown in fig. 1 to 17, in this embodiment, the following steps are included:
the extension lengths of the supporting legs 3 of the single-support wheel and the double-support wheel are respectively l1、l2: and l1、l2The following formula needs to be satisfied:
(l1+R)sinθ≥H+R
and (l)1+R)sinθ＝l2+R
When the obstacle is crossed, the extension length of the supporting leg 3 of the single-support type wheel meets the following formula along with the change of the angle turned from the initial state:
Figure BDA0003660598670000101
when the obstacle is crossed, the extension length of the supporting leg 3 of the double-support type wheel meets the following formula along with the change of the angle turned from the initial state:
Figure BDA0003660598670000102
wherein the height of the barrier is H; the radius of the walking wheel body is R; the included angle between the supporting leg 3 and the ground is; the walking wheel body 1 of the single-support wheel rotates by an angle; the walking wheel body 1 of the double-support type wheel rotates by an angle.
In this embodiment, referring to fig. 12 to 17, a specific control method and a process when the travel mechanism specifically crosses the obstacle are as follows:
the walking mechanism with four walking wheel bodies 1 is used, each walking wheel body 1 is provided with five supporting legs 3 as an example, and when an obstacle is encountered, the walking mechanism can be turned over mainly through four stages.
The first stage is the process of turning over the travelling mechanism from 0 to 36 degrees, and referring to fig. 11 to 12:
when the front left walking wheel body 1 meets the metal nail 18, the front left walking wheel body 1 and the back right walking wheel body 1 are crossed into a single-support posture from a double-support posture, and the worms 11 in the two walking wheel bodies 1 synchronously rotate clockwise, so that the extending length of the supporting leg 3 is controlled by l1Following formula
Figure BDA0003660598670000111
Is shortened to l2. At the moment, the front right walking wheel body 1 and the rear left walking wheel body 1 are turned over from the single-support posture into the double-support posture, the worms 11 in the two left walking wheel bodies 1 synchronously rotate anticlockwise, and the extending length is controlled to be l2Following formula
Figure BDA0003660598670000112
Elongation of l1. The positive and negative rotation speeds of the worm 11 in each walking wheel body 1 are controlled as much as possible while the walking wheels are extended and shortened, so that the central positions of the front walking wheel body 1 and the rear walking wheel body 1 are always kept on the same horizontal line in the turning process.
The second stage is the process of turning over the travelling mechanism from 36 degrees to 72 degrees, and referring to fig. 12 to 13:
the front left walking wheel body 1 and the back right front left walking wheel body 1 are overturned from a single-support posture into a double-support posture, the worm 11 in the two front left walking wheel bodies 1 synchronously rotates anticlockwise, and the extension length l of the support rod 32Following formula
Figure BDA0003660598670000113
Elongation of l1. The front right walking wheel body 1 and the rear left walking wheel body 1 are turned over from a double-support posture into a single-support posture, the worms 11 in the two walking wheel bodies 1 synchronously rotate clockwise, and the extension length of the supporting legs 3 is l1Following formula
Figure BDA0003660598670000114
Is shortened to l2. When the walking wheel extends and shortens, the positive and negative rotation speeds of the worm 11 in each walking wheel body 1 are controlled as much as possible, so that the central positions of the front walking wheel body 1 and the rear walking wheel body 1 are always kept on the same horizontal line in the turning process.
The third stage is the process of turning over the travelling mechanism from 72 degrees to 108 degrees, and referring to fig. 13 to 14:
the front left walking wheel body 1 and the back right front left walking wheel body 1 are turned over from a double-support posture into a single-support posture, the worms 11 in the two walking wheel bodies 1 synchronously rotate clockwise, and the extension length of the supporting legs 3 is l1Following formula
Figure BDA0003660598670000121
Is shortened to l2. The front right walking wheel body 1 and the rear left walking wheel body 1 are turned over from a single-support posture into a double-support posture, the worms 11 of the two middle walking wheel bodies 1 synchronously rotate anticlockwise, and the extension length of the supporting legs 3 is l2Following formula
Figure BDA0003660598670000122
Elongation of l1. The positive and negative rotation speeds of the worm 11 in each walking wheel body 1 are controlled as much as possible while the walking wheels are extended and shortened, so that the central positions of the front walking wheel body 1 and the rear walking wheel body 1 are always kept on the same horizontal line in the turning process.
The fourth stage is the process of the walking mechanism turning over from 108 to 144 degrees, and referring to fig. 14 to 15:
the front left walking wheel body 1 and the back right front left walking wheel body 1 are turned over from a double-support posture into a single-support posture, the worms 11 in the two walking wheel bodies 1 synchronously rotate clockwise, and the extension length of the supporting legs 3 is l2Following formula
Figure BDA0003660598670000123
Elongation of l1. The front right walking wheel body 1 and the rear left walking wheel body 1 are turned over from a double-support posture into a single-support posture, the worms 11 in the two walking wheel bodies synchronously rotate clockwise, and the supporting legs 3 extend outLength is from1Following formula
Figure BDA0003660598670000124
Is shortened to l2. When the walking wheel extends and shortens, the positive and negative rotation speeds of the worm 11 in each walking wheel body 1 are controlled as much as possible, so that the central positions of the front walking wheel body 1 and the rear walking wheel body 1 are always kept on the same horizontal line in the turning process.
After the metal nail 18 turns over, the front traveling wheel body 1 of the traveling mechanism will complete the turning over process of the obstacle, and after the front left traveling wheel body 1 completes the turning over process of the metal nail 18, the preparation work before the rear left traveling wheel body 1 turns over the metal nail 18 will be carried out. The turning process is basically turned over again according to the four obstacle crossing stages, and after 144 degrees of turning, the rear left traveling wheel body 1 can cross over the metal nails 18. The whole walking mechanism finishes the overturning work of the metal nails 18. Here, only the process when the left group of traveling wheel bodies 1 meets an obstacle is given, and in fact, the process when the right group of traveling wheel bodies 1 meets an obstacle is the same as that of the left side. Certainly, a relatively standard crossing process is taken out, and in practice, a walking mechanism may encounter more complicated conditions during walking, for example, in the walking process of the walking mechanism, only the front walking wheel body 1 may encounter the rear part of an obstacle and does not need to cross, or the front two walking wheel bodies 1 need to cross the obstacle at the same time, or the front four walking wheel bodies 1 and the rear four walking wheel bodies need to cross the obstacle at the same time, so that the conditions are various, and the walking mechanism can be flexibly adjusted on the basis of the walking process adjusting mode.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (10)

1. The utility model provides a stride barrier walking wheel, its characterized in that, includes the walking wheel body, a plurality of ways direction slide have been laid to the internal week of walking wheel, the direction slide is followed the radial extension of walking wheel body communicates with each other with the external world, sliding connection has the supporting leg in the direction slide, this internal control that is equipped with of walking wheel the supporting leg stretches out the control mechanism of direction slide follows stretch out adjacent two of supporting leg can form the obstacle-striding region that is used for strideing across the obstacle between the supporting leg.
2. The obstacle-crossing traveling wheel according to claim 1, wherein the control mechanism comprises a driving wheel disc coaxially and rotatably connected to the inside of the traveling wheel body and a rotating device for driving the driving wheel disc to rotate, a plurality of eccentric sliding grooves are circumferentially distributed on the disc surface of the driving wheel disc, driving sliding blocks are slidably connected in the eccentric sliding grooves, the driving sliding blocks are hinged to the supporting legs, a driving shaft is fixed on the traveling wheel body, and the driving wheel disc is rotatably connected to the driving shaft.
3. The obstacle-crossing traveling wheel according to claim 2, wherein the rotating device comprises a worm gear structure and a rotating motor fixed in the traveling wheel body, a worm wheel in the worm gear structure is coaxially fixed on the driving wheel disc, the driving shaft is rotatably connected with the worm wheel, a worm in the worm gear structure is rotatably connected in the traveling wheel body, and the end of the worm is coaxially connected with an output shaft of the rotating motor through a coupler.
4. The obstacle-crossing traveling wheel according to claim 3, wherein two ends of the worm are rotatably connected in the traveling wheel body through a support ring and a worm mounting seat respectively, and the rotating motor is connected with one end of the worm, which is provided with the support ring.
5. The obstacle-crossing travelling wheel according to claim 4, wherein the guide slideway is a rectangular slideway, the supporting leg is a rectangular supporting rod matched with the rectangular slideway, and the end face of the rectangular supporting rod, which can extend out of one end of the rectangular slideway, is an arc surface.
6. The obstacle-crossing travelling wheel according to any one of claims 1 to 5, wherein the length L of the obstacle-crossing region satisfies the following formula:
2lmin≤L≤lmax+lmin
Figure RE-FDA0003704591990000011
Figure RE-FDA0003704591990000012
Figure RE-FDA0003704591990000013
wherein lminThe crossing distance between the front supporting leg in the obstacle crossing area and the obstacle is the closest crossing distance along the advancing direction; lmaxThe turning distance of the front supporting leg in the obstacle crossing area to the farthest obstacle is along the advancing direction; the height of the barrier is H; the extension length of the supporting leg is l; the radius of the walking wheel body is R; theta is an included angle between the supporting leg and the ground; w is the included angle between two supporting legs.
7. A walking mechanism, which is characterized by comprising a mounting platform for mounting a robot body and a barrier-crossing walking wheel as claimed in any one of claims 1 to 6, wherein two groups of walking wheel bodies are respectively and rotatably connected to two sides of the mounting platform, and a driving mechanism for driving the walking wheel bodies to rotate is arranged at the bottom of the mounting platform.
8. The walking mechanism according to claim 7, wherein the guide slideways of two walking wheel bodies adjacent to each other in the same group are arranged in a staggered manner, and the guide slideways of two walking wheel bodies adjacent to the opposite side of the mounting platform are arranged in a staggered manner.
9. A running gear obstacle crossing method for controlling a running gear as claimed in claim 8, characterized by comprising the steps of:
firstly, the walking mechanism drives into the position near an obstacle under the condition that the supporting legs do not extend out of the walking wheel body;
then, the control mechanism controls the extension of the supporting legs on all the walking wheel bodies, at the moment, two supporting legs in the walking wheel body to cross the obstacle need to be ensured to be simultaneously contacted with the ground, then double-support type wheels are formed, one supporting leg in the adjacent walking wheel bodies in the same group is contacted with the ground to form a single-support type wheel, then the walking wheel body on the opposite side of the double-support type wheel forms a single-support type wheel, the walking wheel body on the opposite side of the single-support type wheel forms a double-support type wheel, the extension length of the supporting legs of the double-support type wheel is determined according to the length of the obstacle, and the extension length of the single-support type wheel needs to ensure that the mounting platform is kept in a horizontal state;
then, when crossing an obstacle, the extending length of the supporting leg of the walking wheel body needs to be changed along with the change of the angle turned from the initial state;
and finally, repeating the steps until all the walking wheel bodies in the same group in the walking mechanism cross the obstacle.
10. A method of barrier crossing by a running gear according to claim 9, comprising the steps of:
the extension lengths of the supporting legs of the single-support wheel and the double-support wheel are respectively l1、l2: and l1、l2The following formula needs to be satisfied:
(l1+R)sinθ≥H+R
and (l)1+R)sinθ＝l2+R
When the obstacle is crossed, the extension length l of the supporting leg of the single-support wheel1The following formula is satisfied as the angle changes from the initial state:
Figure RE-FDA0003704591990000031
when the obstacle is crossed, the extending length l of the supporting leg of the double-support type wheel2The following formula is satisfied as the angle changes from the initial state:
Figure RE-FDA0003704591990000032
wherein the barrier height is H; the radius of the walking wheel body is R; theta is an included angle between the supporting leg and the ground; alpha is the rotating angle of the walking wheel body of the single-support wheel; beta is the angle rotated by the walking wheel body of the double-support type wheel.
CN202210576753.1A 2022-05-25 2022-05-25 Obstacle-crossing traveling wheel, traveling mechanism and method for controlling traveling mechanism to cross obstacles Pending CN114771151A (en)

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