CN206569162U - Combination drive mechanism is driven in a kind of timesharing point - Google Patents
Combination drive mechanism is driven in a kind of timesharing point Download PDFInfo
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- CN206569162U CN206569162U CN201720318714.6U CN201720318714U CN206569162U CN 206569162 U CN206569162 U CN 206569162U CN 201720318714 U CN201720318714 U CN 201720318714U CN 206569162 U CN206569162 U CN 206569162U
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- obstacle
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- motor
- aiding overpass
- line shaft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The utility model protects a kind of timesharing point to drive combination drive mechanism, including body, one group of power supply, 2*n road wheel, two device for aiding overpass obstacle, several motors, m root line shafts.Road wheel is respectively in body both sides, and two device for aiding overpass obstacle are located at body both sides respectively, and one end is held within the line shaft between front and back wheel, other end suspension.Motor is divided into two groups of A, B, is driven by one group of power supply timesharing switching.Under regular road conditions, power drives A groups motor work, body is advanced, retreated and turned in wheeled mode.The work of B groups motor is then switched in non-regular road conditions, drives device for aiding overpass obstacle to rotate, carries out obstacle detouring.The utility model drives two groups of motors using one group of power supply timesharing all the time, it is separate, reduce the weight of whole machine, it is simple in construction, it is easy to control, climb type and rolling type are applied in combination depending on concrete condition so that obstacle detouring is more efficient, possess crawler type and legged type robot obstacle climbing ability it is strong the characteristics of.
Description
Technical field
The utility model belongs to robotic technology field, is specifically related to the walking mechanism of mobile robot.
Background technology
The invention of robot is to aid in people and does some work that can not directly accomplish, such as to natural calamity, fire,
The rescue of nuclear accident etc., and do some deep-seas, outer space experiment.But robot will accomplish that the premise of work described above is
Robot must pass through complicated landform and smoothly reach the spot, therefore obstacle detouring is the prerequisite ability of robot.
The current main minute wheel formula of barrier-surpassing robot, sufficient formula, crawler type and hybrid.Wherein legged type robot obstacle climbing ability
By force, but wheel efficiency is low, control difficulty is big, complicated；Crawler type, obstacle climbing ability is strong, and control difficulty is smaller, but structure is multiple
It is miscellaneous, and whole body is heavy, power consumption is big, and wheel efficiency is relatively low；Mixed type, obstacle climbing ability is preferable, but complicated, controls difficulty
It is larger；It is wheeled, with the features such as mechanism is simple, driving and control are flexible, travel speed is fast, operating efficiency is high, but obstacle detouring
Ability.
The content of the invention
Advantage and disadvantage of the utility model through any of the above barrier-surpassing robot of analysis, remain the mechanism letter of wheeled robot
Single, easily, the high advantage of operating efficiency absorbs the good advantage of crawler belt humanoid robot obstacle climbing ability, while abandoning it to drive control
Power consumption is big and bulky shortcoming, proposes a kind of to drive combination drive mechanism based on wheeled timesharing point.
The utility model, which is adopted the following technical scheme that, to be achieved.
Combination drive mechanism, including body are driven in a kind of timesharing point, one group of power supply, 2*n road wheel, and n is natural number, and n
>=2, two device for aiding overpass obstacle, several motors, m root line shafts, m is natural number, m >=1.
The road wheel is respectively in body both sides, is arranged along body fore-and-aft direction, and two or more are set per side.
Two device for aiding overpass obstacle are located at body both sides respectively, and one end is held within the line shaft between front and back wheel,
The other end is suspended.
Motor is separately fixed on body, and motor is divided into two groups of A, B, and one group of power supply timesharing switching drives two groups of motors of A, B,
A groups motor is used to drive road wheel so that action crop rotation is rotated accordingly, and B groups motor is used to drive line shaft so that be arranged on
Device for aiding overpass obstacle on line shaft makees corresponding rotate.
Timesharing point drives combination driving method and refers to only allow power drives wherein A groups motor to work under regular road conditions so that
Body is integrally advanced in wheeled mode, is retreated and is turned.And be then to switch in non-regular road conditions and make power drives B groups electric
Machine works, by driving line shaft to drive device for aiding overpass obstacle to rotate.Obstacle detouring is carried out using device for aiding overpass obstacle.
The course of work to two kinds of situations is illustrated separately below：
When being travelled on regular road surface, robot makes power drives A groups motor work, and rotates road wheel, just may be such that
Robot advances, and retreats and turns, and B group motors are idle, and device for aiding overpass obstacle is not rotated now, with without prejudice to
The mode of normal work is placed.
In non-regular road traveling, A groups motor stops driving, and uses same group of power drives B groups motor so that moving
Power axle drives device for aiding overpass obstacle to rotate, and the utility model is using two kinds of obstacle-detouring methods：
1）Climb obstacle-detouring method：As shown in figure 3, when running into barrier, A group motors are stopped, and B group motors（3）
Drive line shaft（4）Drive device for aiding overpass obstacle（2）Rotate forward, work as device for aiding overpass obstacle（2）Suspension section ride over barrier
On, and when continuing to rotate forward, suspension section is supported on barrier, by body（5）First half is lifted；Then B groups motor（3）
It is stopped, A group motors（3）Drive road wheel（1）Move forward, until front-wheel is ridden on barrier；Then, A groups motor（3）
It is stopped, B group motors（3）Drive line shaft（4）Drive device for aiding overpass obstacle（2）Rotate backward, make device for aiding overpass obstacle（2）
Section must be suspended to ride on the ground, and when continuing to rotate backward, suspension section is supported on the ground, by body（5）Latter half is lifted；Most
Afterwards, B groups motor（3）It is stopped, A group motors（3）Drive road wheel（1）Move forward, until clear the jumps, now body
（5）Entirety, which clears the jumps, completes obstacle detouring process.
2）Roll obstacle-detouring method：When running into barrier, A group motors（3）It is stopped, B group motors（3）Drive line shaft
（4）Drive device for aiding overpass obstacle（2）Rotate backward, make device for aiding overpass obstacle（2）Ground is touched, and when continuing to rotate backward,
Body（5）Latter half will be constantly lifted, until whole body（5）It is lifted, the upper barrier of robot rolling.
The utility model be in order to retain that wheeled robot is simple in construction, control easily, high notable of operating efficiency
The method that combination drives is driven in feature, the timesharing point for being intended to improve its obstacle climbing ability and invent again.The utility model both can be in rule
Fast running on whole road surface, again can under non-regular road conditions flexible obstacle detouring, its specific advantage is as follows：
1）During the regular traveling with non-regular section, robot is all the time using one group of power supply, and timesharing drives two groups
Motor, it is separate, reduce the weight of whole robot so that robot architecture is simple, easy to control.
2）Two kinds of obstacle detouring patterns, climb type and rolling type are provided, visual concrete condition is applied in combination so that obstacle detouring efficiency is more
It is high.
3）The existing wheeled robot of the utility model is simple in construction, the high advantage of wheel efficiency, but also with crawler type and
The characteristics of obstacle climbing ability of legged type robot is strong.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model example；
Fig. 2 is the level land traveling schematic diagram of the utility model example；
Fig. 3（a）- Fig. 3（k）It is the utility model example climbing obstacle detouring pattern diagram；
Fig. 4（a）- Fig. 4（g）It is the utility model example rolling obstacle detouring pattern diagram.
In figure：1st, road wheel, 2, aiding overpass obstacle bar, 3, motor, 4, line shaft, 5, body, 6, timing belt, 11, the first row
Driving wheel, the 12, second road wheel, 13, the third line driving wheel, 14, fourth line driving wheel, the 31, first motor, the 32, second motor, 33,
Three motors, the 34, the 3rd motor, the 61, first timing belt, the 62, second timing belt, the 63, the 3rd timing belt, the 64, the 4th timing belt.
Embodiment
The purpose of this utility model, technical scheme and characteristic are explained in order to be more clearly understood, below in conjunction with tool
Body embodiment carries out further description.The present embodiment is only as more preferably explanation the utility model, but do not limit this practicality
New protection domain.
In Fig. 1, stereochemical structure of the utility model for the robot instantiation of a certain special-purpose, figure are given
In illustrate only and the utility model relevant portion.The robot architecture that combination driving is driven in timesharing point includes body（5）, four rows
Driving wheel（1）, two aiding overpass obstacle bars（2）, 4 motors（3）, a line shaft（4）And four timing belts（6）.
Body（5）Using flat structure, four motors（3）It is separately fixed at body（5）On, four road wheels divide in two separate ranks
Be distributed in body both sides, it is front and rear each pair.Road wheel per side passes through timing belt by a motor（6）Drive.Line shaft（4）Peace
Between front and back wheel, i.e., in the middle of body.Due to two aiding overpass obstacle bars（2）Need to support whole body when obstacle detouring
（5）Weight, the present embodiment moved using two motor synchronous belts.Two aiding overpass obstacle bars（2）One end be separately mounted to power
Axle（4）Two ends, the other end suspension.In order to effectively realize obstacle detouring, this example is by aiding overpass obstacle bar（2）Suspension section Design of length
Into not only exceeding body（5）Front end, but also to exceed rear end.
First motor（31）Directly drive the third line driving wheel（13）, and pass through the first timing belt（61）First is driven to take action
Wheel（11）Rotation so that point row body is in front and rear the third line driving wheel（13）With the first road wheel（11）Synchronous axial system.Second electricity
Machine（32）Directly drive the second road wheel（12）, and pass through the second timing belt（62）Drive fourth line driving wheel（14）Rotation, makes
Score row body is in front and rear fourth line driving wheel（14）With the second road wheel（12）Synchronous axial system.3rd motor（33）With the 4th electricity
Machine（34）The 3rd timing belt is driven respectively（63）With the 4th timing belt（64）, line shaft is driven jointly by two timing belts（4）
Rotate so that two aiding overpass obstacle bars at line shaft two ends（2）Rotate.
When being travelled on regular road surface, referring to Fig. 2, robot makes power drives A group motors（1）Work, makes road wheel（1）
Rotate.Just it may be such that robot advances, retreat and turn, and B group motors（3）It is idle, device for aiding overpass obstacle（2）Now
Do not rotate, placed in the way of without prejudice to normal work.
In non-regular road traveling, A group motors（3）Stop driving, and use same group of power drives B group motor（3）
So that line shaft（4）Drive device for aiding overpass obstacle（2）Rotate, obstacle detouring pattern uses two kinds：
1）Climb obstacle detouring pattern, such as Fig. 3（a）- Fig. 3（k）It is shown, when running into barrier, A group motors（3）It is stopped,
And B group motors（3）Drive line shaft（4）Drive device for aiding overpass obstacle（2）Rotate forward, work as device for aiding overpass obstacle（2）Suspension
Section is ridden on barrier, and when continuing to rotate forward, suspension section is supported on barrier, by body（5）First half is lifted；So
B groups motor afterwards（3）It is stopped, A group motors（3）Drive road wheel（1）Move forward, until front-wheel is ridden on barrier；Connect
, A group motors（3）It is stopped, B group motors（3）Drive line shaft（4）Drive device for aiding overpass obstacle（2）Rotate backward, make auxiliary
Help obstacle crossing device（2）Section must be suspended to ride on the ground, and when continuing to rotate backward, suspension section is supported on the ground, by body（5）It is later half
Lift part；Finally, B groups motor（3）It is stopped, A group motors（3）Drive road wheel（1）Move forward, until surmounting obstacles
Thing, now body（5）Entirety, which clears the jumps, completes obstacle detouring process.
2）Rolling obstacle detouring pattern：Referring to Fig. 4（a）- Fig. 4（g）When running into barrier, A group motors（3）It is stopped, B groups
Motor（3）Drive line shaft（4）Drive device for aiding overpass obstacle（2）Rotate backward, make device for aiding overpass obstacle（2）Touch ground,
And when continuing to rotate backward, body（5）Latter half will be constantly lifted, until whole body（5）It is lifted, robot rolling
Upper barrier.
The utility model had both possessed the high advantage of wheel efficiency of wheeled robot, and crawler type and sufficient formula machine are absorbed again
The characteristics of obstacle climbing ability of people is good.Under different road conditions, using different traveling strategies, timesharing point is driven so that robot it is whole
Body is simple in construction, easy to control, and wheel efficiency is high, and obstacle climbing ability is good.
Claims (2)
1. combination drive mechanism, including body are driven in a kind of timesharing point（5）, one group of power supply, 2*n road wheel (1), n is natural number,
And n >=2, two device for aiding overpass obstacle（2）, several motors（3）, m line shaft（4）, m is natural number, m >=1；Its feature exists
In, the road wheel is respectively in body both sides, along body fore-and-aft direction arrange, per side two or more；Two auxiliary
Obstacle crossing device is located at body both sides respectively, and one end is held within the line shaft between front and back wheel（4）On, other end suspension；Electricity
Machine（3）It is divided into two groups of A, B, one group of power supply timesharing switching driving two groups of motor of A, B, A groups motor is used to drive road wheel（1）, make
Obtain road wheel（1）Make corresponding rotation, B groups motor is used to drive line shaft（4）So that the aiding overpass obstacle dress on line shaft
Put（2）Make corresponding rotate；
Under regular road conditions, power drives A groups motor is only allowed to work so that body（5）It is overall advanced in wheeled mode, retreat and
Turn；
Under non-regular road conditions, the work of power drives B groups motor is switched to, by driving line shaft（4）Drive aiding overpass obstacle dress
Put（2）Rotate, utilize device for aiding overpass obstacle（2）Carry out obstacle detouring.
2. combination drive mechanism is driven in timesharing according to claim 1 point, it is characterised in that the aiding overpass obstacle bar（2）It is outstanding
The length for putting end exceedes body front end or rear end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720318714.6U CN206569162U (en) | 2017-03-29 | 2017-03-29 | Combination drive mechanism is driven in a kind of timesharing point |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720318714.6U CN206569162U (en) | 2017-03-29 | 2017-03-29 | Combination drive mechanism is driven in a kind of timesharing point |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206569162U true CN206569162U (en) | 2017-10-20 |
Family
ID=60053720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720318714.6U Active CN206569162U (en) | 2017-03-29 | 2017-03-29 | Combination drive mechanism is driven in a kind of timesharing point |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206569162U (en) |
-
2017
- 2017-03-29 CN CN201720318714.6U patent/CN206569162U/en active Active
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