CN202944147U - Multi-impeller obstacle crossing mechanism - Google Patents
Multi-impeller obstacle crossing mechanism Download PDFInfo
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- CN202944147U CN202944147U CN 201220666787 CN201220666787U CN202944147U CN 202944147 U CN202944147 U CN 202944147U CN 201220666787 CN201220666787 CN 201220666787 CN 201220666787 U CN201220666787 U CN 201220666787U CN 202944147 U CN202944147 U CN 202944147U
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Abstract
A multi-impeller obstacle crossing mechanism includes a mechanism frame and traveling wheels, wherein the mechanism frame is flat and rectangular, and the traveling wheels are mounted on the left side and the right side of the mechanism frame symmetrically through wheel axles. The multi-impeller obstacle crossing mechanism is characterized in that the traveling wheels are a plurality of impellers; each impeller is formed through cutting a section of arc at an equal arc length and at an interval on the circumference of the entire circle of a wheel; and six impellers are in one group, every three impellers are arranged on one side, the impellers are symmetrical in pair, the arc sections of blades of the two symmetrical impellers mounted in place are right complementary and form a whole circle, and the first wheel and the third wheel on any side of the mechanism frame are mounted at the same state as the second wheel on the other side, that is, after mounting, directions of the corresponding blades are the same. The multi-impeller obstacle crossing mechanism is well adapted to earth's surface, has strong obstacle crossing capability, easily spans obstacles lower than diameter of the wheels, and is superior to a single machine mechanism of an ordinary six-wheel robot body.
Description
Technical field
The utility model belongs to the fields such as wheeled mobile robot, obstacle detouring mode, but is specifically related to a kind of structure and mode of motion of barrier-crossing traveling mechanism of self adaptation obstacle.
Background technology
A lot of countries and company are all at research be movably walking in the complex environment landform in the open air robot or mobile device with clear an obstacle.Particularly cave in just as mud-rock flow, colliery occur, can not be the easily close situation of the mankind in short-term after gas leak, earthquake disaster etc., the urgent hope of researchist can work out high-speed and control mobile robot simple and that can cross certain obstacle.
The traveling gear of existing mobile device is broadly divided into: wheeled, crawler type, polypody, hybrid and special shape (as snakelike sliding type).Wherein polypody and special shape belong to bionical class traveling gear mostly, have very strong obstacle climbing ability and landform comformability, but the complicated in mechanical structure of this two classes traveling gear, control difficulty greatly, manoevreability is relatively relatively poor, is at present the primary stage that research and development are used.Crawler belt has been proved to be a kind of traveling gear that can adapt to complex-terrain and harsh environment through the development of more than 100 years, but its shortcoming also clearly: heavy, need Great Power Driver, therefore, for portable or concerning power has the mobile device of strict restriction crawler belt and improper.Wheeled mobile robot has light succinct, high-speed, high efficiency and some inherent advantages such as control is simple, but just seems clumsy and helpless when lowered in field environment and complex-terrain.
Although wheel type traveling mechanism is simple and efficient is high, its obstacle climbing ability but has been subject to its simple structure and has limited.Therefore, common wheel type traveling mechanism being innovated and improved, can be suitable for fast running and rural atmosphere and the complex-terrain of flat road surface, is a developing direction.
Summary of the invention
The purpose of this utility model is that the Multi-impeller mobile robot that a kind of mechanism is simple, the earth's surface comformability is good, obstacle climbing ability is strong will be provided.
A kind of Multi-impeller barrier getting over mechanism comprises fuselage ring, road wheel, power system (comprising motor), energy source system (comprising power supply), control circuit, remote control and receiver module; Fuselage ring is flat rectangular build, and road wheel is arranged on fuselage ring the right and left by the wheel rotational symmetry; It is characterized in that: described road wheel is Multi-impeller, described Multi-impeller is to form after the first-class arc length of the full circle circumferential edge interval of a wheel cuts out one section circular arc, described Multi-impeller is taken turns as one group take six, three on one side, symmetrical in twos, after being in place, the blade arc section of two symmetrical Multi-impellers is just in time complementary, form a full circle, and second the taking turns and adopt same installing condition of first and the third round on arbitrary one side of fuselage ring and another side, after namely installing, the direction of corresponding blade is identical.Described blade quantity is two, three, four or five.
The utility model adopts Multi-impeller to replace common wheel, can allow the weight of wheel lighten, and guarantees simultaneously the steady of walking.
Between the arc of described each blade and arc and the arc of the arc of blade and blank parts isometric, even blade quantity is n, n is the integer more than or equal to 2, the arc of each blade equals 1/2n, is like this to take into account weight and pulsation-free is more preferably selected.
Can certainly select the arc length of each blade greater than 1/2n, sacrifice like this advantage of some weight, but can reach more steady when walking.
The utility model is applied in whole robot system, by the control part that adapts, by the walking states of each wheel is controlled, can realize steadily moving ahead and the switching of the dual mode that obstacle detouring moves ahead.
Wherein the first walking manner is under the environment of level road, and take one group of wheel as example, the initialization of the relative position of six wheels is similar to six biped robots of triangle gait, i.e. the breast wheel of a certain side state identical with the front and back two-wheeled maintenance of opposite side.And the arc section of two symmetrical wheels is complementary, forms state of kinematic motion and the equivalence of full circle wheel of wheel on the whole.Avoided so slow-footed shortcoming under the level road state, its effect is seen the rotation that is equivalent to six circle wheels on the whole, not fluctuation or concussion.In addition, for the low obstacle of some discrete obstruction degree, this walking manner also can pass through easily.
Another kind of walking manner is in the situation that run into continuous obstacle, belongs to a kind of state and carries out obstacle detouring by switching to six wheels, by the breach of Multi-impeller, can hang over comparalive ease on obstacle, improves obstacle climbing ability.And for trilobed wheel, because its breach is that its obstacle clearing capability is far longer than the radial height of common wheel by 120 ° of deciles.So with respect to common six wheel robots, this walking manner of the present utility model has demonstrated certain advantage.
As seen, Multi-impeller barrier getting over mechanism of the present utility model combines wheeled travel efficiency and the obstacle climbing ability of vane type, makes this mechanism have the advantages such as simple in structure, that the speed of travel is fast, obstacle climbing ability is strong concurrently.
Description of drawings
Fig. 1 is this barrier getting over mechanism trilobed wheel prototype used schematic diagram
Fig. 2 is this barrier getting over mechanism level road motion initial condition schematic diagram
Fig. 3 be this barrier getting over mechanism level road move ahead 30 the degree view
Fig. 4 be this barrier getting over mechanism level road move ahead 60 the degree view
Fig. 5 is this barrier getting over mechanism motion initial condition schematic diagram under the obstacle detouring mode
Fig. 6 is the rough schematic view of this barrier getting over mechanism
Fig. 7 is the full circle design sketch that this barrier getting over mechanism level road motion initial condition side is seen.
The specific embodiment
The utility model is applied in different applied environments, and needed concrete robot architecture is different with control part and circuit part.For more people can be gained enlightenment from the utility model and for improvement of the present utility model and utilization, the utility model is only applied for rights protection and rationale for problem and the key component of essence.
As a kind of form of the present utility model, this paper only describes as an example and explains principle and the mode of motion realized of the present utility model with trilobed wheel, and other impeller number and trilobed wheel have same principle.
referring to Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, a kind of six structure and the mode of motion of taking turns barrier getting over mechanism that the utility model proposes, comprise fuselage ring 2, road wheel 1, power system (comprising motor), energy source system (comprising power supply), control circuit, remote control and receiver module, herein, not to power system (comprising motor), energy source system (comprising power supply), control circuit, the concrete structure of the body such as remote control and receiver module is done detailed restriction, can adopt existing techniques in realizing, it not the technological improvement point of this patent, therefore save in figure.Below set and mode of motion two aspects are set forth from concrete structure.
Referring to Fig. 1, the road wheel that the utility model uses is trilobed wheel 1, and its home position is fixed on the dynamic rotation axle of drive system apparatus.These trilobed wheel characteristics are to find out six points of six Equal round girths on the circumferential edge of a full circle, and adjacent 2 are one group take the interval, tell three groups.Mid point at every group of adjacent 2 lines is that the center of circle prescinds circular arc portion.The center of circle of roundlet can be positioned as close to the impeller axle center.Like this can be so that the weight of impeller lightens and easily block obstacle.Also have circular hole on the wheel blades of Fig. 5, Fig. 6 and Fig. 7, design is to make the weight of wheel as far as possible little when not affecting the firm quality of wheel like this, thereby gives the weight reducing part of fuselage.For whether having the key that circular hole is not technology in the 7 width figure that provide, Fig. 1 is for mode of motion of the present utility model and principle are described to Fig. 4.
Described in the utility model moving under plateau on level road moves ahead referring to Fig. 2, Fig. 3, Fig. 4.
In Fig. 2, be steady.Former and later two wheels L1 and the wheel R2 in the middle of one skate of L3 and right side keep a kind of state.Remaining L2 and R1, R3 belong to another kind of complementary state.This moment, the contact point on robot car body and ground was impeller limit mid point A, B, the C of wheel R2, L1 and L3.In geom three not the point on same straight line determine a plane, so this moment, point of contact A, B, C supported robot car body.
Suppose that six those radiuses of taking turns under the barrier getting over mechanism initial condition with the ground contact point are reference, the angle that moves ahead is 0 degree, and when angle that six wheels move ahead was in 30 °, the point of contact of supporting car body was all on a blade edge of R2, L1 and three wheels of L3.This process all belongs to the pulsation-free state.
When the angle that moves ahead when six wheels is just in time 30 °, referring to Fig. 3, be a state transformation point at this moment.In figure, the contact point on R2, L1 and L3 and ground is marginal point A, B, the C of each blade.Meanwhile, the contact point on R1, R3 and L2 and ground is B1, C1 and A1.Because R2, L1 and L3 are complementary in a full circle with respect to L2, R1 and R3, remain a pulsation-free state this moment.
The angle that moves ahead when six wheels can suppose that greater than 30 ° and during less than 90 ° a certain state is 60 degree, and referring to Fig. 4, the contact point on this moment and ground is mid point A1, B1 and the C1 on the wheel blades of L2, R1 and R3.Be equally at 3 and determine a plane, supporting car body.Fig. 4, Fig. 6 and Fig. 7 are that Fig. 2 is about a complementary state of a full circle wheel.Two states for before and after transformation point can be regarded as: alternately switching of this group wheel of R2, L1 and L3 and L2, R1 and this group wheel of R3, see on the whole the full circle effect that these two groups of wheels are continuously smooths.
In like manner, be 90 degree, 150 degree, 210 degree, 270 degree and 30 spend the same state transformation points that belong in angle with moving ahead when 330 spend when the wheel angle that moves ahead.These the time be carved with the point of six kiss the earths.Having not under other arbitrarily angled, three touchdown points on same straight line are supporting car body reposefully.Just can move ahead as the wheel of full circle on the level land so move ahead according to this mode of motion.Thereby reach optimum regime on speed.
Before plateau under line mode, because synchronization only has three touchdown points except the transformation point state, add the wheel part of having vacant position, so the relative obstacle climbing ability of this moment is eager to excel than the situation of rounding wheel, but the problem that the wigwag motion concussion may occur like this is in order to reach better obstacle detouring effect and stability.Mode of motion under obstacle detouring mode state below having proposed.
Referring to Fig. 5, when running into obstacle, mode of motion is switched to state as Fig. 5, this moment, six wheels on left side and right side were in same state.Changing method is to keep one group of three wheel wherein motionless, controls three wheel turns sextants of other a group.Can slow down front line speed for fear of concussion this moment.The obstacle performance of this mode is more a lot of by force than state before.
Claims (4)
1. a Multi-impeller barrier getting over mechanism, comprise fuselage ring and road wheel; Fuselage ring is flat rectangular build, and road wheel is arranged on fuselage ring the right and left by the wheel rotational symmetry; It is characterized in that: described road wheel is Multi-impeller, described Multi-impeller is to form after the first-class arc length of the full circle circumferential edge interval of a wheel cuts out one section circular arc, described Multi-impeller is taken turns as one group take six, on one side three, symmetrical in twos, after being in place, the blade arc section of two symmetrical Multi-impellers is just in time complementary, forms a full circle, and first and the third round on fuselage ring arbitrary one side and another side second take turns the same installing condition of employing, after namely installing, the direction of corresponding blade is identical.
2. Multi-impeller barrier getting over mechanism according to claim 1, it is characterized in that: between the arc of described each blade and arc and the arc of the arc of blade and blank parts isometric, even described blade quantity is n, and n is the integer more than or equal to 2, and the arc of each blade equals 1/2n.
3. Multi-impeller barrier getting over mechanism according to claim 1, it is characterized in that: if described blade quantity is n, the arc length of each blade is greater than 1/2n.
4. Multi-impeller barrier getting over mechanism according to claim 1, it is characterized in that: described blade quantity is two, three, four or five.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220666787 CN202944147U (en) | 2012-10-15 | 2012-12-06 | Multi-impeller obstacle crossing mechanism |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220525761.5 | 2012-10-15 | ||
| CN201220525761 | 2012-10-15 | ||
| CN 201220666787 CN202944147U (en) | 2012-10-15 | 2012-12-06 | Multi-impeller obstacle crossing mechanism |
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| CN202944147U true CN202944147U (en) | 2013-05-22 |
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| CN201210517951.7A Active CN102935787B (en) | 2012-10-15 | 2012-12-06 | Multi-vane wheel obstacle crossing mechanism |
| CN 201220666787 Expired - Fee Related CN202944147U (en) | 2012-10-15 | 2012-12-06 | Multi-impeller obstacle crossing mechanism |
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| CN201210517951.7A Active CN102935787B (en) | 2012-10-15 | 2012-12-06 | Multi-vane wheel obstacle crossing mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102935787A (en) * | 2012-10-15 | 2013-02-20 | 西南大学 | Multi-vane wheel obstacle crossing mechanism |
| CN109018069A (en) * | 2018-05-30 | 2018-12-18 | 中国人民解放军军事科学院国防科技创新研究院 | Wheel moving platform and moving trolley |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661931A (en) * | 2013-12-23 | 2014-03-26 | 北京理工大学 | Novel ground motorized composite take-off and landing mechanism applicable to small aircraft |
| CN105863687B (en) * | 2016-05-20 | 2018-08-21 | 重庆科技学院 | Packaged type steel arch support trolley |
| CN108583715A (en) * | 2018-05-23 | 2018-09-28 | 西南大学 | More sufficient homonymies of wheel synchronize different Earth Phase robots |
| CN110253592B (en) * | 2019-06-03 | 2020-12-25 | 广西电网有限责任公司贵港供电局 | Intelligent line patrol robot for high-voltage transmission line |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE448294B (en) * | 1983-11-17 | 1987-02-09 | Mecanum Ab | Transport device |
| DE10000096A1 (en) * | 2000-01-04 | 2001-07-05 | Ridha Azaiz | Mobile robot, esp. for application of smooth and inclined surfaces, which can be modularly constructed, has each suction cup fitted with a corresponding sensor device and a matching walking mechanism |
| US7249640B2 (en) * | 2001-06-04 | 2007-07-31 | Horchler Andrew D | Highly mobile robots that run and jump |
| CN102107685B (en) * | 2011-01-12 | 2012-09-26 | 西南大学 | Six-foot robot with eccentric wheel legs |
| CN102275457B (en) * | 2011-05-23 | 2012-12-26 | 西南大学 | Switched multi-blade obstacle-crossing wheel |
| CN102490803B (en) * | 2011-12-02 | 2014-11-05 | 西南大学 | Wheel-type linked barrier-crossing traveling mechanism |
| CN102935787B (en) * | 2012-10-15 | 2015-03-04 | 西南大学 | Multi-vane wheel obstacle crossing mechanism |
-
2012
- 2012-12-06 CN CN201210517951.7A patent/CN102935787B/en active Active
- 2012-12-06 CN CN 201220666787 patent/CN202944147U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102935787A (en) * | 2012-10-15 | 2013-02-20 | 西南大学 | Multi-vane wheel obstacle crossing mechanism |
| CN109018069A (en) * | 2018-05-30 | 2018-12-18 | 中国人民解放军军事科学院国防科技创新研究院 | Wheel moving platform and moving trolley |
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| Publication number | Publication date |
|---|---|
| CN102935787B (en) | 2015-03-04 |
| CN102935787A (en) | 2013-02-20 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130522 Termination date: 20151206 |
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| EXPY | Termination of patent right or utility model |