CN204184487U - A kind of novel wheel-leg combined type mobile robot traveling gear - Google Patents
A kind of novel wheel-leg combined type mobile robot traveling gear Download PDFInfo
- Publication number
- CN204184487U CN204184487U CN201420348452.4U CN201420348452U CN204184487U CN 204184487 U CN204184487 U CN 204184487U CN 201420348452 U CN201420348452 U CN 201420348452U CN 204184487 U CN204184487 U CN 204184487U
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- wheel
- gear
- drive shaft
- main drive
- combined type
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Abstract
The utility model proposes a kind of traveling gear of wheel-leg combined type mobile robot possessing better compatible with environment, obstacle climbing ability in forest zone, urban district, building etc. under Complex Natural Environment, this mechanism is made up of three leg wheel discs and three steamboats, and steamboat is arranged in the end of taking turns and crossing one's legs; Adopt the structure of the double mode all-wheel drive of single motor, realize double mode conversion by power-transfer clutch and interior outer shaft and drive, driving the structure of three gear wheel shafts to realize many wheels with driving, compact overall structure by a finishing bevel gear cuter simultaneously, being convenient to control.The advantage of ratcheting mechanism and Tui Shi mechanism has been merged in this mechanism, can according to different surface conditions, conversion mode of motion, adopts wheel type movement to realize remote high-speed mobile on steady road surface, adopt the motion of leg formula at complex road surface, all kinds of obstacles such as branch, stone, ladder, groove can be crossed over.
Description
Technical field
The utility model is mobile robot's traveling gear with high obstacle climbing ability, belong to Robotics and automatic field, this mechanism can realize the quick travel function of ratcheting mechanism, again the high obstacle climbing ability of You Tui formula mechanism, has compact conformation simultaneously, is easy to the features such as control.
Background technology
Along with the in-depth study to mobile robot, requirements at the higher level are proposed to the obstacle climbing ability of robot and ground crossing ability, adapts to various complex road surface situation to make it.The main mode of motion adopted has wheeled, leg formula, crawler type and combined type at present.Ratcheting mechanism stable movement, can at flat road surface high-speed motion, but its obstacle climbing ability is limited; Tui Shi mechanism has stronger obstacle climbing ability, but its structural stability is poor and restive; Crawler type mechanism supports area is large, and grounding pressure is little, and at soft or muddy ground adhesion value and good by performance, but power consumption is larger.Composite mechanism is the study hotspot of mobile robot in recent years, by by different move mode compound, reaches the object of learning from other's strong points to offset one's weaknesses, and strengthens ground comformability and the manoevreability of robot.
With forest zone integrated application for background, forest zone circumstance complication is changeable, and obstacle, complex-terrain spread all over, and this just requires that the robot used in forest zone must have very strong obstacle climbing ability and manoevreability.
Summary of the invention
The utility model proposes a kind of traveling gear of wheel-leg combined type mobile robot possessing better compatible with environment, obstacle climbing ability in forest zone, urban district, building etc. under Complex Natural Environment, the advantage of ratcheting mechanism and Tui Shi mechanism has been merged in this mechanism, can according to different surface conditions, conversion mode of motion, wheel type movement is adopted to realize remote high-speed mobile on steady road surface, adopt the motion of leg formula at complex road surface, all kinds of obstacles such as branch, stone, ladder, groove can be crossed over.
The design plan that the utility model adopts is: whole traveling gear is divided into 4 symmetrical wheels-leg combined wheels composition, single combined wheels is a moving cell, each moving cell is made up of three leg wheel discs and three steamboats, steamboat is arranged in the end of taking turns and crossing one's legs, driven through three-stage gear reduction and speedup by motor, wheel disc to be closed through primary gear speed reducing and by power-transfer clutch by motor and drives, realize wheeled quick travel by the rotation of steamboat, utilize the rotation of wheel disc to cross over motion to realize leg formula.Each moving cell, have employed small size, light weight, greatly the DC motor of output torque exports main driving axle to drive through retarder.This traveling gear have move with the identical high-speed straight-line of general wheeled mobile robot, turn to, the function such as climbing, there is again the high obstacle detouring of Tui Shi mechanism, comformability and manoevreability.
For the double mode driving of satisfied single motor, magnetic clutch is adopted to combine the version of interior outer shaft in design, power drives interior outer shaft respectively by the clutch of power-transfer clutch on main driving axle, when power-transfer clutch closes, power transmission is to wheel disc, drive wheel disc to rotate and realize obstacle detouring, during disengaging of clutch, power drives steamboat rotary motion through interior axle by secondary bevel drive.Driving three steamboats for realizing a motor, in design, adopting a big gear wheel to engage the version of three miniature gearss simultaneously.
For realizing high torque demand during obstacle detouring, driving during main driving axle and adopting comparatively big retarding than reducing rotating speed to improve drive torque, to strengthen its obstacle climbing ability; Steamboat requires to have higher rotation speed to realize quick travel, and the design only adopts single motor, therefore under main shaft is in more slow-revving situation, adopts the secondary finishing bevel gear cuter of higher speed ratio to accelerate to realize steamboat high speed rotating.To cross one's legs end because steamboat is in wheel, wheel disc rotates the interference needing when carrying out obstacle detouring to prevent steamboat from rotating, adopt in being crossed one's legs by the shaft embedding wheel of driving steamboat, when ensure that wheel disc rotates, the driven wheel of steamboat keeps relative static conditions, to retrain the rotation of steamboat.
The advantage of mobile robot Tui Shi mechanism and ratcheting mechanism has been merged in the utility model mechanism, has the features such as quick travel, high obstacle performance, high maneuverability, can according to different road conditions, and adopt different motion form, compatible with environment is strong.And, adopt single motor to combine inside and outside axle construction by magnetic clutch and realize double mode driving, reduce motor use amount, be easy to control.
Accompanying drawing explanation
Fig. 1 is traveling gear outside drawing
Fig. 2 (a) is traveling gear structural representation front view; Fig. 2 (b) is traveling gear structural representation left view
Fig. 3 is traveling gear transmission principle figure
Fig. 4 is axis transmission structure figure inside and outside power-transfer clutch
Fig. 5 drives three gear transmission structure figure
Below the illustrating of every content in Figure of description:
1. in steamboat 2. 3 leg wheel disc 3. power-transfer clutch, outer shaft driver train 4. reverse box 5. motor 6. retarder 7. one-level finishing bevel gear cuter 8. main drive shaft 9. gear wheel shaft 10. one-level cylinder miniature gears 11. one-level cylinder big gear wheel 12. secondary bevel gear wheel 13. secondary bevel pinion 14. frame 15. key 16. takes turns disk cover
Detailed description of the invention
Whole traveling gear is divided into 4 symmetrical wheels-leg combined wheels composition, and each combined wheels is made up of outer shaft driver train 3 in steamboat 1, three leg wheel disc 2, power-transfer clutch.Three leg wheel disc ends are equipped with reverse box 4, and steamboat is connected with gearbox output shaft, can rotate around it; Three steamboats are 120 ° and are evenly distributed on wheel disc, wherein two and earth surface during motion.Mechanism drives and drives to axle drive shaft 8 by motor 5 through retarder 6, then transfers to gear case through finishing bevel gear cuter 7 and gear wheel shaft 9.
Traveling gear motion is made up of motor, retarder, power-transfer clutch, gear, and the design adopts the double mode all-wheel drive mode of single motor, can reduce motor use amount, make compact conformation, and reduces control difficulty.Motor 5 is by integration reducer 6, slow down through primary cylinder gear 10 and 11 and import main drive shaft (interior axle) 8 into, power-transfer clutch (outer shaft) 3 axle drive shaft is equipped with, when power-transfer clutch disconnects, power is driven to drive up to transfer gear wheel shaft 9 through interior axle by one-level finishing bevel gear cuter 7 commutation, transfer to steamboat via secondary finishing bevel gear cuter 12 and 13 acceleration that again commutates again, drive it to rotate; Power transmission to three leg wheel disc 2 when power-transfer clutch closes, wheel disc is connected with reverse box 4, drives whole mechanism to rotate.
The design adopts the double mode driving of outer shaft in power-transfer clutch, wherein power-transfer clutch adopts the convenient control of electromagnetic clutch, the left-half of power-transfer clutch 3 is connected with main drive shaft (interior axle) 8 by key, follow axle to rotate together, power-transfer clutch 3 adopts screw 17 to be connected with frame 14 and plays clutch spindle to fixation, right half part (outer shaft) is connected with wheel disk cover 16 by key 15 and holding screw, wheel disk cover is then connected with wheel disc 2 by bolt, gear wheel shaft 9 is arranged on wheel disc inside, can follow wheel disc and rotate together.Power, after gear 11 imports main drive shaft into, is separated control by the clutch of power-transfer clutch, and when power-transfer clutch separates, power passes through finishing bevel gear cuter 7 input gear axle 9 through interior axle, thus drives trundle to rotate; When power-transfer clutch closes, power transmission is to power-transfer clutch right half part (outer shaft), connected by key and the rotation of bolt link driving wheel disc, to cross one's legs end because steamboat is in wheel, wheel disc rotates the interference needing when carrying out obstacle detouring to prevent steamboat from rotating, adopts and to be embedded by the transfer gear wheel shaft 9 of driving steamboat during wheel crosses one's legs, follow wheel disc and rotate together, thus make finishing bevel gear cuter 7 and gear wheel shaft 9 be in relative static conditions, to retrain the rotation of steamboat.For realizing all-wheel drive, adopting a finishing bevel gear cuter 7, driving the version of three gear wheel shafts 9 simultaneously.
Claims (6)
1. a wheel-leg combined type traveling gear, is characterized in that: this traveling gear is arranged symmetrically with on robot, and be made up of four identical wheel leg combined wheels, each combined wheels is a moving cell; Each moving cell comprises that three wheels are crossed one's legs, main drive shaft, power-transfer clutch, wheel disk cover, wheel disc and three steamboats; Each moving cell adopts single motor to drive, and describedly takes turns the transmission device of crossing one's legs and being provided with for the rotation of main drive shaft being delivered to described steamboat, main drive shaft is provided with for controlling the power-transfer clutch that steamboat rotates or wheel disc rotates.
2. wheel-leg combined type traveling gear according to claim 1, it is characterized in that, described power-transfer clutch is divided into fixed part and clutch part, described fixed part is connected to described main drive shaft by key, described clutch part is enclosed within described main drive shaft, be fixedly connected on wheel disk cover, can clutch between described clutch part and fixed part.
3. wheel-leg combined type traveling gear according to claim 1, is characterized in that, described transmission device is shaft and gear mechanism, and described shaft one end is connected with described main drive shaft gear, and the other end is connected with described little wheel gear.
4. wheel-leg combined type traveling gear according to claim 3, is characterized in that, described shaft and gear drive be embedded in described take turns cross one's legs in.
5. wheel-leg combined type traveling gear according to claim 1, is characterized in that, for train of reduction gears is connected between described motor with described main drive shaft, adopts accelerating gear group to be connected between described main drive shaft with described steamboat.
6. the wheel-leg combined type traveling gear according to claim 1 or 3, is characterized in that, three described steamboats by respective transmission device respectively gear be connected on described main drive shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420348452.4U CN204184487U (en) | 2014-06-26 | 2014-06-26 | A kind of novel wheel-leg combined type mobile robot traveling gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420348452.4U CN204184487U (en) | 2014-06-26 | 2014-06-26 | A kind of novel wheel-leg combined type mobile robot traveling gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204184487U true CN204184487U (en) | 2015-03-04 |
Family
ID=52616507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420348452.4U Expired - Fee Related CN204184487U (en) | 2014-06-26 | 2014-06-26 | A kind of novel wheel-leg combined type mobile robot traveling gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204184487U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104044658A (en) * | 2014-06-26 | 2014-09-17 | 北京林业大学 | Novel walking mechanism of novel wheel and leg combined type mobile robot |
| CN109808790A (en) * | 2019-02-15 | 2019-05-28 | 东北大学秦皇岛分校 | A kind of Novel power system driving legged type robot for electricity |
-
2014
- 2014-06-26 CN CN201420348452.4U patent/CN204184487U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104044658A (en) * | 2014-06-26 | 2014-09-17 | 北京林业大学 | Novel walking mechanism of novel wheel and leg combined type mobile robot |
| CN109808790A (en) * | 2019-02-15 | 2019-05-28 | 东北大学秦皇岛分校 | A kind of Novel power system driving legged type robot for electricity |
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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: 20150304 Termination date: 20190626 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |