CN204641933U - A kind of two-dimentional linked barrier-crossing traveling mechanism - Google Patents
A kind of two-dimentional linked barrier-crossing traveling mechanism Download PDFInfo
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- CN204641933U CN204641933U CN201520200427.6U CN201520200427U CN204641933U CN 204641933 U CN204641933 U CN 204641933U CN 201520200427 U CN201520200427 U CN 201520200427U CN 204641933 U CN204641933 U CN 204641933U
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- surface plate
- obstacle detouring
- circle wheel
- obstacle
- wheel
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Abstract
The utility model discloses a kind of two-dimentional linked barrier-crossing traveling mechanism, comprise obstacle detouring surface plate and circle wheel, described circle wheel is provided with knock hole and alignment pin near circumferential position, being coordinated by alignment pin and knock hole is connected on described obstacle detouring surface plate by described round wheel, at least two described round wheels are connected to bottom obstacle detouring surface plate, described at least one, circle wheel is connected in the middle part of described obstacle detouring surface plate or top, the center of described circle wheel is provided with dynamical axis, described circle wheel drives by described dynamical axis and rotates with same phase around described alignment pin, front and back end bottom described obstacle detouring surface plate exceeds the slewing area of described circle wheel.The utility model control simple, traveling gear is simple for structure and efficiently solve the problem of straight-bar type mechanism " singular point ", with wheeled mode high efficiency motion, and effectively can pass through obstacle by plane interlock in non-regular landform on smooth ground.
Description
Technical field
The utility model relates to technical field of mechanical equipment, particularly the two-dimentional linked barrier-crossing traveling mechanism of one.
Background technology
Traveling gear is the important component part in mobile robot field, directly determines the obstacle climbing ability of robot.Along with the events such as disaster, forest fire, nuclear incident, earthquake rescue take place frequently and the mankind to the growth of the exploration of tera incognita, the mankind urgently wish these environment of perception, to reach collection information, alleviate disaster, to rescue the object such as the wounded.Therefore the barrier-crossing traveling mechanism that a kind of obstacle climbing ability is strong is needed.
At present, the barrier-crossing traveling mechanism used mainly contains the structure such as wheeled, crawler type, leg formula, hybrid, link-type, all there is certain weak point in these structures: wherein to have ground pressure little for crawler belt, at soft ground abhesion capacity and good by performance, stair climbing, obstacle detouring stationarity are high, but heavy crawler belt, power consumption can not be avoided high and to costs such as the destructions of landform; Leg formula barrier getting over mechanism well can be walked under non-regular landform, but its degree of freedom is too much, has paid the costs such as sport efficiency is too low, control is more complicated; Hybrid synthesis of mechanism employs the advantage of various mechanism, makes it adapt to various landform as far as possible, but complicated in mechanical structure, and control difficulty comparatively large, efficiency is poor.Wheeledly have that load-bearing is large, mechanism be simple, drive relative with control convenient, the speed of travel is fast, work efficiency high, but described several not as above of his obstacle detouring effect.The obstacle detouring effect of centering type under non-regular landform is better, but the sport efficiency under regular landform is lower, before link-type is relative, the obstacle detouring effect of two kinds is better, but because its mechanism self exists " singular point " problem, when link work is to level attitude, as easy as rolling off a log generation " stuck " phenomenon, causes mechanism normally to advance.
Generally all there is " singular point " problem in existing straight line connecting rod Stump-jump wheel, namely when straight-line link motion to the circle axle center hole same level line of taking turns on time, making a concerted effort between the connecting rod drive point that front and rear wheel connects 2 is 0, each other without application force, can not travel forward at drive link two ends simultaneously, it can not be driven to move backward, namely connecting rod cannot be advanced to same orientation, very easily there is connecting rod one end downward, the other end upwards, connecting rod is stuck in " stuck " phenomenon between two-wheeled, causes round wheel normally to advance.
Utility model content
The utility model is intended at least solve one of problems of the prior art.
One of the technical problems to be solved in the utility model is the problem can not taking into account the obstacle climbing ability under the stability of regular landform traveling gear, balance and non-regular landform in order to overcome existing barrier getting over mechanism.
For solving the problems of the technologies described above, the utility model provides a kind of two-dimentional linked barrier-crossing traveling mechanism, comprise obstacle detouring surface plate and circle wheel, described circle wheel is provided with knock hole and alignment pin near circumferential position, being coordinated by alignment pin and knock hole is connected on described obstacle detouring surface plate by described round wheel, at least two described round wheels are connected to bottom obstacle detouring surface plate, described at least one, circle wheel is connected in the middle part of described obstacle detouring surface plate or top, the center of described circle wheel is provided with dynamical axis, described circle wheel drives by described dynamical axis and rotates with same phase around described alignment pin, front and back end bottom described obstacle detouring surface plate exceeds the slewing area of described circle wheel.
It is wheeled advance under regular landform, sport efficiency is higher, when walking under irregularity landform, can initiatively switch to centering type to advance, triangle obstacle detouring surface plate be taken on obstacle, travelling forward at this moment along with circle wheel, circle wheel near obstacle just can with the knock hole on circle wheel for fulcrum, rotate around alignment pin, do covert bias and switch, clear the jumps.When front-wheel clear an obstacle, when trailing wheel is not also crossed, so along with the rotation forward of circle wheel, always having obstacle detouring surface plate rides on obstacle, now below circle wheel just with circle wheel on knock hole for fulcrum, rotate around alignment pin, again do covert bias and switch, thus rotate over obstacle.
Further, described obstacle detouring surface plate base plate is provided with slide resistant material.
Further, the material of described obstacle detouring surface plate comprises one or more in metal, wooden or organic high molecular polymer.
The beneficial effects of the utility model there are provided a kind of two-dimentional linked barrier-crossing traveling mechanism, the utility model solves the problem of straight-bar type mechanism " singular point ", run into obstacle walking manner to automatically switch, without the need to the Detection & Controling of control system, there is very high reliability and terseness; The advantage of the wheeled and centering type of this structure composition, wheeled and the obstacle climbing ability of eccentric type structure under regular and non-regular landform and the problem of sport efficiency are taken into account, and physical construction is fairly simple, kinematic velocity is fast, control fairly simple, than be easier to realize, under regular landform sport efficiency higher and under non-regular landform obstacle detouring effect better.This utility model efficiency is high, energy consumption is low, applied range, is widely used in the equipment be operated in particular surroundings, as obstacle detouring mobile robot, and Disaster Relief Robot, deliverance apparatus etc.
Accompanying drawing explanation
Figure 1 shows that the structural representation of a kind of two-dimentional linked barrier-crossing traveling mechanism of the utility model embodiment;
Schematic diagram in a flash when Figure 2 shows that the utility model embodiment is advanced under subdued topography;
Figure 3 shows that the process schematic that the utility model embodiment is advanced under non-regular landform, certain schematic diagram in a flash that Fig. 3 a is depicted as that the utility model embodiment touches obstacle, Fig. 3 b is depicted as the utility model embodiment obstacle detouring surface plate front end and rides over certain schematic diagram in a flash on obstacle, Fig. 3 c is depicted as the utility model embodiment obstacle detouring surface plate and is supported on certain schematic diagram in a flash on obstacle, certain schematic diagram in a flash that Fig. 3 d is depicted as the utility model embodiment throwing over barrier.
Detailed description of the invention
Hereafter will describe the utility model in detail in conjunction with specific embodiments.It should be noted that the combination of technical characteristic or the technical characteristic described in following embodiment should not be considered to isolated, they can mutually be combined thus be reached better technique effect.
Embodiment
Figure 1 shows that the structural representation of a kind of two-dimentional linked barrier-crossing traveling mechanism of the utility model embodiment.
The present embodiment provides a kind of two-dimentional linked barrier-crossing traveling mechanism, as shown in Figure 1, comprise obstacle detouring surface plate 1 and circle wheel 2, 4, 5, described round wheel 2, 4, 5 are provided with knock hole 3 near circumferential position, 8, 9 and alignment pin, by alignment pin and knock hole 3, 8, 9 coordinate described round wheel 2, 4, 5 are connected on described obstacle detouring surface plate 1, circle wheel 4, 5 are connected to bottom obstacle detouring surface plate 1, circle wheel 2 is connected in the middle part of described obstacle detouring surface plate 1 or top, described round wheel 2, 4, the center of 5 is provided with dynamical axis 7, described round wheel 2, 4, 5 driven by described dynamical axis 7 rotates around dynamical axis 7 with same phase, described round wheel 2, 4, 5 driven by described dynamical axis 7 rotates around described alignment pin with same phase, front and back end bottom described obstacle detouring surface plate 1 exceeds described round wheel 4, the slewing area of 5.
In the present embodiment, described obstacle detouring surface plate 1 base plate is provided with slide resistant material; The material of described obstacle detouring surface plate 1 comprises one or more in metal, wooden or organic high molecular polymer.
The utility model belongs to parallel institution, and type of drive is in-wheel driving, and motor drives dynamical axis, and described obstacle detouring surface plate is because moving with drive wheel passively with round physical connection of taking turns.
The working process of the present embodiment is as follows:
In order to the working process of this barrier getting over mechanism is described, definable two kinds of modes of advancing, the first mode of advancing is for adopting in-wheel driving to advance at subdued topography, and the second mode of advancing is advanced for adopting two dimensional surface to link under non-regular landform.
Schematic diagram in a flash when Figure 2 shows that the utility model embodiment is advanced under subdued topography.
The first mode of advancing, the walking manner of circle wheel 4,5 is wheel shapes, travel efficiency is identical with traveling gear, as shown in Figure 2, because dynamical axis 7 drives circle wheel 4,5 to rotate forward, obstacle detouring surface plate 1 is that physical connection is moved with the round wheel 4,5 as drive wheel passively, therefore obstacle detouring surface plate 1 is in unencumbered situation, the present embodiment is equivalent to circle wheel and moves on the ground under subdued topography, because its center of gravity remains constant, therefore in whole walking process, total energy keeps statical stability.
Figure 3 shows that the process schematic that the utility model embodiment is advanced under non-regular landform.
The second is advanced mode, and the present embodiment mainly relies on initiatively obstacle detouring pattern to switch.When obstacle detouring surface plate touches obstacle, as shown in Figure 3 a, following two kinds of possibility situations are had:
Situation one: when obstacle detouring surface plate 1 rides on obstacle just, along with the continuation of dynamical axis 7 drives, the round wheel 4 near obstacle just can be transitioned into eccentric modes, for next step obstacle detouring is prepared; Other circle wheel 2,5 then can drive by the obstacle detouring surface plate 1 of ining succession to transferring along with the continuation of dynamical axis 7, equally also for next step obstacle detouring is prepared, as shown in Figure 3 b; Afterwards, the round wheel 4 near obstacle rotates around the alignment pin in knock hole 8, and what namely circle wheel was covert does eccentric switching, at this moment upholder is obstacle detouring surface plate 1, other 2,5, round wheel moves on along with the driving of dynamical axis 7, is lifted by obstacle detouring surface plate 1, as shown in Figure 3 c; Finally, the round wheel 4 encountering obstacle just rotates over obstacle, as shown in Figure 3 d.
Situation two: when obstacle detouring surface plate 1 props up obstacle, as long as the height of obstacle is no more than the vertex (close to circle wheel 2,4,5 diameter) in front wheel alignment hole, along with the continuation of dynamical axis 7 drives, obstacle detouring surface plate 1 always moves to certain position when riding on obstacle, and motion obstacle detouring process is afterwards with described in situation one.
The utility model provides a kind of two-dimentional linked barrier-crossing traveling mechanism, solves the problem of straight-bar type mechanism " singular point ", runs into obstacle walking manner and automatically switches, without the need to the Detection & Controling of control system, have very high reliability and terseness; The advantage of the wheeled and centering type of this structure composition, wheeled and the obstacle climbing ability of eccentric type structure under regular and non-regular landform and the problem of sport efficiency are taken into account, and physical construction is fairly simple, kinematic velocity is fast, control fairly simple, than be easier to realize, under regular landform sport efficiency higher and under non-regular landform obstacle detouring effect better.This utility model efficiency is high, energy consumption is low, applied range, is widely used in the equipment be operated in particular surroundings, as obstacle detouring mobile robot, and Disaster Relief Robot, deliverance apparatus etc.Meanwhile, can according to concrete landform and conditions of demand, the quantity of circle wheel and the geometric configuration of obstacle detouring surface plate can also be combined into multiple traveling gear.
Although given embodiments more of the present utility model, it will be understood by those of skill in the art that when not departing from the utility model spirit herein, can change embodiment herein.Above-described embodiment is exemplary, should using embodiment herein as the restriction of the utility model interest field.
Claims (2)
1. a two-dimentional linked barrier-crossing traveling mechanism, it is characterized in that, comprise obstacle detouring surface plate and circle wheel, described circle wheel is provided with knock hole and alignment pin near circumferential position, being coordinated by alignment pin and knock hole is connected on described obstacle detouring surface plate by described round wheel, at least two described round wheels are connected to bottom obstacle detouring surface plate, described at least one, circle wheel is connected in the middle part of described obstacle detouring surface plate or top, the center of described circle wheel is provided with dynamical axis, described circle wheel drives by described dynamical axis and rotates with same phase around described alignment pin, front and back end bottom described obstacle detouring surface plate exceeds the slewing area of described circle wheel.
2. two-dimentional linked barrier-crossing traveling mechanism as claimed in claim 1, is characterized in that, described obstacle detouring surface plate base plate is provided with slide resistant material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520200427.6U CN204641933U (en) | 2015-04-03 | 2015-04-03 | A kind of two-dimentional linked barrier-crossing traveling mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520200427.6U CN204641933U (en) | 2015-04-03 | 2015-04-03 | A kind of two-dimentional linked barrier-crossing traveling mechanism |
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| CN204641933U true CN204641933U (en) | 2015-09-16 |
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| CN201520200427.6U Expired - Fee Related CN204641933U (en) | 2015-04-03 | 2015-04-03 | A kind of two-dimentional linked barrier-crossing traveling mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104773221A (en) * | 2015-04-03 | 2015-07-15 | 西南大学 | Two-dimensional linkage obstacle-crossing walking mechanism |
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- 2015-04-03 CN CN201520200427.6U patent/CN204641933U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104773221A (en) * | 2015-04-03 | 2015-07-15 | 西南大学 | Two-dimensional linkage obstacle-crossing walking mechanism |
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| 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: 20150916 Termination date: 20160403 |
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| CF01 | Termination of patent right due to non-payment of annual fee |