CN1297374C - Perception type reconfigurable bionic sand wheel for moving navigational platform - Google Patents
Perception type reconfigurable bionic sand wheel for moving navigational platform Download PDFInfo
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- CN1297374C CN1297374C CNB2004100439424A CN200410043942A CN1297374C CN 1297374 C CN1297374 C CN 1297374C CN B2004100439424 A CNB2004100439424 A CN B2004100439424A CN 200410043942 A CN200410043942 A CN 200410043942A CN 1297374 C CN1297374 C CN 1297374C
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- wheel
- wheel rim
- fixed
- wheel hub
- detecting sensor
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Abstract
The present invention relates to a sensing type restructurable bionic sand wheel for moving a navigational platform, particularly to an improvement for moving the wheel structure of a navigational platform. The present invention has the structure that an elastic rim outside plate (13) is fixed outside a curved surface of a wheel hub (8), an elastic rim inside plate (18) is fixed inside the curved surface of the wheel hub (8), an elastic tyre (14) is arranged inside the central line of a restructurable rim (1), reflection devices (2) of a sensing sensor are arranged in an elastic tyre (14) at intervals, and transmitting devices (4) of the sensing sensor are arranged on the curved surface of a support stand (20) at intervals. The present invention has the advantages of simple and compact structure and high running ability and can improve the stability and the turn performance of straight line driving. The present invention increases areas contacting the land surface and can adapt many kinds of environment comprising ordinary highways, hard ground and sand environment; simultaneously, the present invention has strong passing capacity and small steering resistance in the sand environment. The present invention can sense environment temperature and obstacles.
Description
Technical field:
The present invention relates to a kind of improvement of mobile navigation platform truck wheel construction.
Background technology:
Wheeled running mechanism is simple and reliable for structure with it, at a high speed stable, capacity usage ratio is high, good operability and trafficability characteristic are good and be widely used in mobile robot and the vehicle.Mobile Robotics Navigation platform for simulation ground and space environment, wheel as robot traveling critical component, also exist a lot of problems, concentrated expression is as follows: (1) environmental suitability is poor, the wheel form is fixed, its trafficability characteristic can not adapt to different environment, as hardstand, soft terrain and sand ground.(2) poor to the perception of environment, wheel does not have the perception to the parameter of environment such as temperature, obstacle.(3) in the sand ground environment, for same wheel, its tractive force and steering drag can not take into account.The combination property of promptly drawing, turning to is poor.
Summary of the invention:
The purpose of this invention is to provide a kind of sensing type that is used for the mobile navigation platform, reconfigurable bionical sand wheel adapted, it has simple in structure, compact, service ability improves, improve the stability and the turn performance of straight-line travelling, increase the area of kiss the earth, multiple environment be can adapt to, ordinary highway, hard place and sand ground environment comprised; Have handling capacity stronger in the sand ground environment and less steering drag simultaneously; And have characteristics to the perception of environment temperature and obstacle.The present invention is made up of restructural wheel rim 1, detecting sensor reflection device 2, the inboard sandboard 3 of wheel, detecting sensor ballistic device 4, electric machine assembly 5, retaining sleeve 6, wheel arm 7, wheel hub 8, wheel outside sandboard 9, taper sheath 10, elasticity wheel rim interior plate 18, bolt 11, bearing 12, elasticity wheel rim outer panel 13, elastic tyre 14, non-contact temperature sensor 15, support 20; Fixedly connected with a side of retaining sleeve 6 in the lower end of wheel arm 7, electric machine assembly 5 is fixed in the retaining sleeve 6 by bolt 11, be provided with bearing 12 between wheel hub 8 and the retaining sleeve 6, be rotationally connected by taper sheath 10 between the output shaft 19 of electric machine assembly 5 and the wheel hub 8, the outside of wheel hub 8 curved surfaces is fixed with elasticity wheel rim outer panel 13, the inboard of wheel hub 8 curved surfaces is fixed with elasticity wheel rim interior plate 18, on the curved surface of the wheel hub 8 between elasticity wheel rim outer panel 13 and the elasticity wheel rim interior plate 18, be fixed with restructural wheel rim 1, the inboard of center line is provided with elastic tyre 14 on restructural wheel rim 1, the edge circumferentially is provided with detecting sensor reflection device 2 equidistantly in elastic tyre 14, the center of circle end of support 20 is fixed on the retaining sleeve 6, the equidistant detecting sensor ballistic device 4 that is provided with on the curved surface of support 20, detecting sensor reflection device 2 is disposed radially in one plane with detecting sensor ballistic device 4, non-contact temperature sensor 15 is fixed on the wheel arm 7, the outside of circle is fixed with wheel outside sandboard 9 in the wheel hub 8, and the inboard of circle is fixed with the inboard sandboard 3 of wheel in the wheel hub 8.It is simple in structure, compact that the present invention has, and driving power improves, and improves the stability and the turn performance of straight-line travelling, increases the area of kiss the earth, can adapt to multiple environment, comprises ordinary highway, hard place and sand ground environment; Have handling capacity stronger in the sand ground environment and less steering drag simultaneously; And has a advantage to the perception of environment temperature and obstacle.
Description of drawings:
Fig. 1 is a main cutaway view of the present invention, Fig. 2 be the A of Fig. 1 to view, Fig. 3 be the B of Fig. 1 to view, Fig. 4 is a detecting sensor reflection device 2 and the operation principle schematic diagram of detecting sensor ballistic device 4.
The specific embodiment:
The specific embodiment one: (referring to Fig. 1-Fig. 3) present embodiment is made up of restructural wheel rim 1, detecting sensor reflection device 2, the inboard sandboard 3 of wheel, detecting sensor ballistic device 4, electric machine assembly 5, retaining sleeve 6, wheel arm 7, wheel hub 8, wheel outside sandboard 9, taper sheath 10, elasticity wheel rim interior plate 18, bolt 11, bearing 12, elasticity wheel rim outer panel 13, elastic tyre 14, non-contact temperature sensor 15, support 20; Fixedly connected with a side of retaining sleeve 6 in the lower end of wheel arm 7, electric machine assembly 5 is fixed in the retaining sleeve 6 by bolt 11, be provided with bearing 12 between wheel hub 8 and the retaining sleeve 6, be rotationally connected by taper sheath 10 between the output shaft 19 of electric machine assembly 5 and the wheel hub 8, the outside of wheel hub 8 curved surfaces is fixed with elasticity wheel rim outer panel 13, the inboard of wheel hub 8 curved surfaces is fixed with elasticity wheel rim interior plate 18, on the curved surface of the wheel hub 8 between elasticity wheel rim outer panel 13 and the elasticity wheel rim interior plate 18, be fixed with restructural wheel rim 1, the inboard of center line is provided with elastic tyre 14 on restructural wheel rim 1, the edge circumferentially is provided with detecting sensor reflection device 2 equidistantly in elastic tyre 14, the center of circle end of support 20 is fixed on the retaining sleeve 6, the equidistant detecting sensor ballistic device 4 that is provided with on the curved surface of support 20, detecting sensor reflection device 2 is disposed radially in one plane with detecting sensor ballistic device 4, non-contact temperature sensor 15 is fixed on the wheel arm 7, the outside of circle is fixed with wheel outside sandboard 9 in the wheel hub 8, and the inboard of circle is fixed with the inboard sandboard 3 of wheel in the wheel hub 8.Have groove asymmetric groove 16 in both sides on the arc-shaped surface of restructural wheel rim 1 vertically, have groove shape on the arc-shaped surface beyond restructural wheel rim 1 upper groove 16 and carry out thorn 17.
Operation principle: the wheel rim of mobile navigation platform wheel and wheel hub restructural formula structure, its principle is: wheel rim and wheel hub are the structure of working in coordination, can use the wheel rim of difformity, different performance, as elasticity wheel rim, rigidity wheel rim, semi-circular, legged wheel rim and bionical wheel rim etc.Use the wheel rim of the wheel of mobile navigation platform based on the sand ground of biomimetic features.Its principle is: apery foot, carry the unsymmetric structure of hoof on the back, in the axial inboard of wheel elastic tyre 14 is housed, the rigidity wheel rim is equipped with in the outside, and the rigidity wheel rim is unsymmetric structure about center line, and whole wheel rim has triple ovum type profile profiles.The section profile of rigidity wheel rim is the crown shape of partial sphere, there is the groove formula of certain angle to carry out thorn on its surface, these are carried out thorn and elasticity wheel rim side plate and elastic tyre and form together along triple ovum type profile profile biomimetic features of the distribution or asymmetrical distribution of wheel axis direction, its mechanism is when being subjected to husky counter-force to do the time spent, elastomeric side panels is opened to both sides, can increase contact area and limit sand and flow, the buffering car body shakes, increases propulsive force and reduce resistance to rolling.Therefore, outside rigidity is bigger, is beneficial to keep turning to precision and straight-line travelling precision; Inboard rigidity is less, is beneficial to increase adhesive force; Triple ovum type profile profiles can improve straight motion stability and reduce turning moment.Based on the sense of touch wheel of contactless range sensor, its operation principle is as follows, and 16 contactless detecting sensor ballistic devices 4 are evenly distributed on the support 20 of the outside of being fixed in non-rotating part retaining sleeve 6, promptly at a T1～T16 place; And 16 contactless detecting sensor reflection devices 2 are evenly distributed in the elastic tyre 14 on the wheel rim that is rotating, promptly at a P1～P16 place.When wheel rotated, the detecting sensor ballistic device 4 at a T1～T16 place did not rotate, and the detecting sensor reflection device 2 that is in a P1～P16 place in wheel rim is along with the wheel rim rotation.Wherein detecting sensor reflection device 2 can be subjected to the distortion of external force and produce radial displacement along with elastic tyre.Like this, the detecting sensor ballistic device 4 that is positioned at a T1～T16 place just can be measured the radial displacement of corresponding detecting sensor reflection device 2, also just can measure elastic tyre in the circumferential position of distortion, thus the position of determining the obstacle that wheel contacts that can be indirect.For the navigation of navigation platform and location provide details about obstacle.Based on the temperature perception wheel of non-contact temperature sensor 15, its operation principle is as follows: as shown in Figure 1, non-contact temperature sensor 15 is installed in the both sides, front and back of wheel non-rotating part wheel arm 7, can detect the temperature of the object of wheel front and back 15cm respectively.Non-contact temperature sensor 15 is an infrared temperature sensor.
Claims (2)
1, a kind of sensing type that is used for the mobile navigation platform, reconfigurable bionical sand wheel adapted, it is made up of restructural wheel rim (1), detecting sensor reflection device (2), the inboard sandboard (3) of wheel, detecting sensor ballistic device (4), electric machine assembly (5), retaining sleeve (6), wheel arm (7), wheel hub (8), wheel outside sandboard (9), taper sheath (10), elasticity wheel rim interior plate (18), bolt (11), bearing (12), elasticity wheel rim outer panel (13), elastic tyre (14), non-contact temperature sensor (15), support (20); Fixedly connected with a side of retaining sleeve (6) in the lower end of wheel arm (7), electric machine assembly (5) is fixed in the retaining sleeve (6) by bolt (11), be provided with bearing (12) between wheel hub (8) and the retaining sleeve (6), be rotationally connected by taper sheath (10) between the output shaft (19) of electric machine assembly (5) and the wheel hub (8), the outside that it is characterized in that wheel hub (8) curved surface is fixed with elasticity wheel rim outer panel (13), the inboard of wheel hub (8) curved surface is fixed with elasticity wheel rim interior plate (18), on the curved surface of the wheel hub (8) between elasticity wheel rim outer panel (13) and the elasticity wheel rim interior plate (18), be fixed with restructural wheel rim (1), the inboard of going up center line at restructural wheel rim (1) is provided with elastic tyre (14), the edge circumferentially is provided with detecting sensor reflection device (2) equidistantly in elastic tyre (14), the center of circle end of support (20) is fixed on the retaining sleeve (6), the equidistant detecting sensor ballistic device (4) that is provided with on the curved surface of support (20), detecting sensor reflection device (2) is disposed radially in one plane with detecting sensor ballistic device (4), non-contact temperature sensor (15) is fixed on the wheel arm (7), the outside of circle is fixed with wheel outside sandboard (9) in the wheel hub (8), and the inboard of circle is fixed with the inboard sandboard (3) of wheel in the wheel hub (8).
2, a kind of sensing type that is used for the mobile navigation platform according to claim 1, reconfigurable bionical sand wheel adapted, it is characterized in that having the asymmetric groove of both sides groove (16) vertically on the arc-shaped surface of restructural wheel rim (1), have groove shape on restructural wheel rim (1) upper groove (16) arc-shaped surface in addition and carry out thorn (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100439424A CN1297374C (en) | 2004-10-19 | 2004-10-19 | Perception type reconfigurable bionic sand wheel for moving navigational platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100439424A CN1297374C (en) | 2004-10-19 | 2004-10-19 | Perception type reconfigurable bionic sand wheel for moving navigational platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1605479A CN1605479A (en) | 2005-04-13 |
| CN1297374C true CN1297374C (en) | 2007-01-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100439424A Expired - Fee Related CN1297374C (en) | 2004-10-19 | 2004-10-19 | Perception type reconfigurable bionic sand wheel for moving navigational platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1297374C (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101628527B (en) * | 2009-08-05 | 2011-11-30 | 哈尔滨工程大学 | Wheels of mobile robot with non-contact transverse sensory ability |
| CN102243500B (en) * | 2011-04-12 | 2012-10-10 | 吉林大学 | Dune electric trolley with traction control system |
| CN103373173A (en) * | 2012-04-14 | 2013-10-30 | 卢维团 | Self-locking deformation wheel with movable spoke |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000052702A (en) * | 1998-08-11 | 2000-02-22 | Gijutsu Kaihatsu Kenkyusho:Kk | Attractive wheel for magnetic body running incorporating running drive mechanism |
| CN1295907A (en) * | 1999-11-11 | 2001-05-23 | 丁希仑 | Self-controlled ball shaped robot |
| JP2003305671A (en) * | 2002-04-11 | 2003-10-28 | Bokushi Mutsukawa | Spherical wheel vehicle and spherical wheel robot |
-
2004
- 2004-10-19 CN CNB2004100439424A patent/CN1297374C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000052702A (en) * | 1998-08-11 | 2000-02-22 | Gijutsu Kaihatsu Kenkyusho:Kk | Attractive wheel for magnetic body running incorporating running drive mechanism |
| CN1295907A (en) * | 1999-11-11 | 2001-05-23 | 丁希仑 | Self-controlled ball shaped robot |
| JP2003305671A (en) * | 2002-04-11 | 2003-10-28 | Bokushi Mutsukawa | Spherical wheel vehicle and spherical wheel robot |
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| Publication number | Publication date |
|---|---|
| CN1605479A (en) | 2005-04-13 |
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