CN2673582Y - Parallelogram overhead linkage obstacle crossing mechanism - Google Patents
Parallelogram overhead linkage obstacle crossing mechanism Download PDFInfo
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- CN2673582Y CN2673582Y CN 200420024717 CN200420024717U CN2673582Y CN 2673582 Y CN2673582 Y CN 2673582Y CN 200420024717 CN200420024717 CN 200420024717 CN 200420024717 U CN200420024717 U CN 200420024717U CN 2673582 Y CN2673582 Y CN 2673582Y
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- robot
- connecting rod
- parallelogram
- obstacle crossing
- overhead
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Abstract
The utility model relates to a parallelogram overhead connecting rod obstacle crossing mechanism, relating to the moving member used in the structure of a deformed robot (which comprises a polypod robot, a wheeled model robot, a crawler robot, etc). The parallelogram overhead connecting rod obstacle crossing mechanism which is one of the import components of a high performance obstacle crossing robot is used for connecting the identity of the robot and moving wheels. The integral parallelogram overhead connecting rod obstacle crossing mechanism is composed of front and rear swing rods and upper and lower connecting rods, the two swing rods and the two connecting rods are respectively parallel to comprise an overhead parallelogram, and the lower ends of the swing rods are connected with the wheel shafts of the moving wheels. The midpoints of the connecting rods are connected with the identity of the robot. When the robot scrambles a barrier, the good contact of the front and rear moving wheels and the ground can always be ensured by using the parallelogram overhead connecting rod obstacle crossing mechanism, the front and rear moving wheels can respectively scramble the barrier to ensure the integral parallelogram overhead connecting rod obstacle crossing mechanism to stably cross the barrier, and meanwhile, the gradient of the vehicle body of the robot is only half as large as a common vehicle type. The utility model enhances the integrative obstacle crossing performance of the robot.
Description
Technical field
The utility model relates to the barrier getting over mechanism that is used for similar structures such as robot, especially the moving link that uses in fighter toy (comprising multi-foot robot and wheeled, caterpillar type robot etc.) structure.
Background technology
Because robot can replace people's work in many industries or environment, reducing the human heavy work of being born or directly in the face of dangerous chance, so Robotics has obtained greatly developing.In recent years, along with going deep into of research work, the application of Robotics is also constantly expanded, and for example celestial body detecting, explosive investigation, mining etc. make the research of barrier-surpassing robot more and more obtain paying attention to.An important goal of research barrier-surpassing robot is exactly to improve the deformability of robot, and it is mobile that it can be climbed up and in being full of the destructuring environment of barrier.The present barrier-surpassing robot (referring to CN1338357A, CN1397409A, CN1410230A) of existing report or obstacle climbing ability is not strong in the document, or structure is too complicated lacks a kind of simple in structure and possess the mechanism of strong obstacle climbing ability.
Summary of the invention
The purpose of this utility model is to provide a kind of parallelogram overhead connecting rod barrier getting over mechanism, utilizes simple mechanism to reach the purpose that improves the robot obstacle performance, thereby strengthens the ability that robot adapts to wild environment.
The utility model is achieved in that
Entire mechanism is made up of front and back fork and upper and lower strut, two forks, two connecting rods are distinguished parallel, the upper end of fork is connected with last connecting rod two ends respectively by connector, contact is connected with the lower link two ends respectively by connector in the bar of fork, and the lower end of fork is connected with the wheel shaft of moving wheel respectively by connector; The mid point of connecting rod is connected with robot body respectively by connector.
The length of fork hypomere is greater than 1/2 of moving wheel wheel footpath, and the length of fork epimere is greater than 1/4 of moving wheel wheel footpath, and the length of connecting rod is greater than moving wheel wheel footpath and more than or equal to the terrain clearance of lower link.
In actual applications, because overhead connecting rod is adopted in the connection that seesaws between the wheel, promptly the terrain clearance of connecting rod is far above the center of gravity of wheel, thereby robot is advanced on rough complex work surface more freely.Be unlikely to advance, strengthened obstacle climbing ability greatly because of some sharp-pointed or tall and big projection and the inconsistent vehicle that makes of connecting rod.The terrain clearance of lower link is the actual obstacle clearing capability that can reach.
Simultaneously, owing to adopt parallel-crank mechanism as the connector that seesaws between the wheel, in the operation of uneven ground, the rotational deformation of parallelogram can make the wheel independent climbing barrier respectively that seesaws, and in the time of the single-wheel climbing barrier, the lifting height of robot body center of gravity only is half of common vehicle, the gradient of robot body is less, makes it to be difficult for toppling.The distortion of parallelogram also makes moving wheel and ground remain excellent contact, helps climbing obstacle.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present utility model;
Fig. 2 is an obstacle detouring process schematic diagram of the present utility model.
The specific embodiment
Below in conjunction with example the utility model is described in detail:
With reference to figure 1, front roll bar 2, back fork 7 and last connecting rod 4, lower link 3 are formed parallel-crank mechanism, preceding moving wheel 1 and back moving wheel 8 are coupled together, and be connected with robot body at the mid point 5 of last connecting rod and mid point 6 places of lower link.When the front and back moving wheel was in the initial position of horizontal movement state, upper and lower strut was that horizontal direction, front and back fork are vertical direction.Described connection should be articulated manner, and described hinged connecting rod and the fork of being meant all can rotate along pin joint, and parallel-crank mechanism is rotated on the plane of the vertical direction that itself constituted, and makes it at this plane top offset freely thereby drive moving wheel.
As can be known from Fig. 2, in the actual obstacle detouring process, when for example climbing step class obstacle, the current wheel when arriving step edge, under the traction of the driving force of moving wheel own, front-wheel will produce frictional force upwards, rise along the step sidewall gradually; In this process, parallel-crank mechanism bulk deformation, trailing wheel still have good the contact with ground, promote robot body and travel forward.Owing to be positioned at the centre of connecting rod with the tie point of robot body, so the lifting height of tie point only is the front-wheel lifting height half, that is the lifting height of whole center of gravity half when adopting stationary links mechanism only, effectively guarantee the stationarity of robot body.After front-wheel is taken the step upper strata, promptly drive trailing wheel gradually near the step sidewall, climb on step along the step sidewall equally.
When specific design, the terrain clearance of lower link (be in the bar of fork contact to the distance on ground) should be selected the maximum height of sharp-pointed obstacle of the required leap of robot body and step class obstacle, at least should be greater than moving wheel wheel footpath; This moment, the length (be in the bar of fork contact to the distance of tip node down) of fork hypomere at least should be greater than the moving wheel radius.The terrain clearance of last connecting rod should adapt with the height of vehicle body, be generally the maximum height of vehicle body, but, distance between the upper and lower strut (being the distance of the supreme tip node of contact in the bar of fork that is the length of fork epimere) at least should be greater than 1/4 of moving wheel wheel footpath, in order to avoid influence the motion of parallelogram.Motion non-interference before and after the length of upper and lower strut should guarantee between the two-wheeled, and when parallelogramming deflection, under the situation that is not subjected to other condition interference effect, the difference in height between the two-wheeled greater than needed obstacle clearing capability (referring to Fig. 2-c); So the length of connecting rod should be greater than moving wheel wheel footpath and more than or equal to the terrain clearance of lower link, otherwise obstacle clearing capability can be subjected to the restriction of smaller value among both.
Specific embodiment is: get the height that can cross over sharp-pointed obstacle and step class obstacle during design and be moving wheel wheel footpath (wheel is high) 1.5 times, so the length of the terrain clearance of lower link and connecting rod be wheel high more than 1.5 times.The utility model design wheel height is 110mm, and the lower link height is 170mm, and last connecting rod height is 210mm, and promptly the length of fork hypomere is that the length of 115mm, fork epimere is 40mm, and the length of connecting rod is 180mm.Connecting rod and fork all adopt the material (for example duralumin 12) of intensity height, light weight to make.Connector is the wear-resistant material turning joint of (for example 40Cr adds copper sheathing).
Claims (2)
1, the overhead connecting rod barrier getting over mechanism of a kind of parallelogram, it is characterized in that: entire mechanism is made up of front and back fork and upper and lower strut, two forks, two connecting rods are distinguished parallel, the upper end of fork is connected with last connecting rod two ends respectively by connector, contact is connected with the lower link two ends respectively by connector in the bar of fork, and the lower end of fork is connected with the wheel shaft of moving wheel respectively by connector; The mid point of connecting rod is connected with robot body respectively by connector.
2, the overhead connecting rod barrier getting over mechanism of parallelogram as claimed in claim 1, it is characterized in that: the length of described fork hypomere is greater than 1/2 of moving wheel wheel footpath, the length of fork epimere is greater than 1/4 of moving wheel wheel footpath, and the length of connecting rod is greater than moving wheel wheel footpath and more than or equal to the terrain clearance of lower link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420024717 CN2673582Y (en) | 2004-02-16 | 2004-02-16 | Parallelogram overhead linkage obstacle crossing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420024717 CN2673582Y (en) | 2004-02-16 | 2004-02-16 | Parallelogram overhead linkage obstacle crossing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2673582Y true CN2673582Y (en) | 2005-01-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420024717 Expired - Fee Related CN2673582Y (en) | 2004-02-16 | 2004-02-16 | Parallelogram overhead linkage obstacle crossing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2673582Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102139711A (en) * | 2011-03-02 | 2011-08-03 | 中国人民解放军理工大学 | Transport vehicle for post-disaster rescue |
| CN107571930A (en) * | 2017-09-22 | 2018-01-12 | 北京林业大学 | A kind of wheel leg type barrier-exceeding vehicle |
| CN110253593A (en) * | 2019-06-03 | 2019-09-20 | 北京交通大学 | Wheel type barrier-crossing robot with deformable body frame structure for automotive |
-
2004
- 2004-02-16 CN CN 200420024717 patent/CN2673582Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102139711A (en) * | 2011-03-02 | 2011-08-03 | 中国人民解放军理工大学 | Transport vehicle for post-disaster rescue |
| CN107571930A (en) * | 2017-09-22 | 2018-01-12 | 北京林业大学 | A kind of wheel leg type barrier-exceeding vehicle |
| CN110253593A (en) * | 2019-06-03 | 2019-09-20 | 北京交通大学 | Wheel type barrier-crossing robot with deformable body frame structure for automotive |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |