CN102602470B - A kind of obstacle crossing walking system of link gear and link gear alternately switching - Google Patents
A kind of obstacle crossing walking system of link gear and link gear alternately switching Download PDFInfo
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- CN102602470B CN102602470B CN201210075216.5A CN201210075216A CN102602470B CN 102602470 B CN102602470 B CN 102602470B CN 201210075216 A CN201210075216 A CN 201210075216A CN 102602470 B CN102602470 B CN 102602470B
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- link gear
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- wheel
- walking system
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- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000004888 barrier function Effects 0.000 claims description 13
- 238000005452 bending Methods 0.000 claims description 3
- 230000009194 climbing Effects 0.000 abstract description 6
- 230000008450 motivation Effects 0.000 description 3
- 241000592274 Polypodium vulgare Species 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000037147 athletic performance Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
Alternately obstacle crossing walking system involved in the present invention is a kind of walking mechanism the strongest to landform adaptability.Alternately should include body and may be mounted at the linked barrier-crossing traveling mechanism composition of body both sides by obstacle crossing walking system.The bottom of this body can be provided with anti-slop serrations.Body both sides can be made up of one or more linked barrier-crossing traveling mechanisms.In linked barrier-crossing traveling mechanism, the quantity of wheel used does not limits.This body rear and front end is designed with locking device, can be joined end to end by many bodies easily, locks bunchiness.Alternately obstacle crossing walking system is a kind of high efficiency, high reliability, mechanism is succinct, obstacle climbing ability is stronger barrier-crossing traveling mechanism, can be used on the high speed walking in regular landform and non-regular landform such as rugged mountain region, marsh, river valley, seabeach.
Description
Technical field
The invention belongs to mobile robot, barrier-exceeding vehicle field, be specifically related to a kind of can the obstacle detouring walking of self adaptation barrier
System.
Background technology
Along with the fast development of the various fields such as rescue of exploring, Aero-Space, fire-fighting are explosive, nuclear power industry, military surveillance,
Can lowered in field environment freely walk and the movement of obstacle detouring in complicated landform (such as disaster scene, seismic ruins) in the urgent need to a kind of
Equipment, such as robot, probe vehicles etc..The walking mechanism of existing mobile device is broadly divided into: wheeled, crawler type, polypody, mixed
Box-like (as hybrid in wheel-track, wheel-lower limb is hybrid) and specific form (such as snakelike slidingtype, polygon rolling type).Wherein polypody
Formula and specific form belong to bionical class walking mechanism mostly, have the strongest obstacle climbing ability and a landform adaptability, but this two classes row
Walk the complicated in mechanical structure of mechanism, difficulty is very big, mobility is relatively poor in control, is currently under at the beginning of research and development application
The level stage.Crawler belt has proven to a kind of vehicle with walking machine adapting to complicated landform and adverse circumstances through the development of more than 100 years
Structure, but its shortcoming is also apparent from: heavy, need Great Power Driver, therefore, for portable or have strict limit to power
Crawler belt improper for the mobile device of system.Wheel occurred before more than 3,000 years it is considered to be energy conversion is imitated
The walking mechanism that rate is the highest, wheel have light succinctly, at high speed, high efficiency and control is simple etc., and advantage makes it prolonged not
Decline, but wheel just seems helpless when wild environment and complicated landform.
Summary of the invention
The invention aims to provide a kind of mechanism succinctly reliable, efficiency is high, earth's surface adaptability is good, obstacle climbing ability is strong
Obstacle crossing walking system, is mainly used in needing at regular landform and the non-the most rugged mountain region of smooth landform, marsh, river valley, the height at seabeach
Speed walking, is very suitable for wild environment and complicated landform.
Technical scheme is as follows:
The obstacle crossing walking system of a kind of link gear and link gear alternately switching, including body and link gear.Described
The left and right sides of body is symmetrical equipped with link gear, the two ends being shorter than link gear at the two ends of body.Described link gear bag
Including wheel and obstacle detouring connecting rod, described wheel has m, and equal diameters, wherein m is integer and >=1, and it takes turns quantum count can be according to need
Depending on Yaoing, the least obstacle climbing ability of m is the strongest, and m the biggest heavy burden ability is the strongest.It is respectively equipped with location on described wheel and obstacle detouring connecting rod
Hole, is connected together wheel and obstacle detouring connecting rod by hole, location by active pin shaft, the selection of the position of positioning hole on described wheel
Should be to greatest extent close to the circumference of wheel, and the hole, location of each wheel is consistent to the distance of respective axle center hole；Described take turns
The axle center hole of son connects the drive shaft of Power Drive Unit.Alternately obstacle crossing walking system has two kinds of walking shape patterns: running on wheels
Pattern and obstacle detouring walking mode.Link gear can be cut between both walking modes according to whether smooth landform is when walking automatically
Change, be running on wheels pattern when flatter landform is walked, when running into barrier, automatically switch into obstacle detouring walking mode.
Described obstacle detouring connecting rod rear and front end is provided with bending upwards, is provided with anti-slop serrations bottom it.
The type of drive of described link gear is that a driving means drives one or more wheels.
It is connected by attachment means between described body and link gear.
Described body is made up of some joints end to end body unit, and before and after each body unit, side is provided with and additionally
The locking device that body unit is connected, each body unit lateral symmetry installs one group of linked barrier-crossing traveling mechanism.
The walking principle that should replace obstacle crossing walking system is:In the case of regular landform, in this obstacle crossing walking system
The athletic performance form of link gear is wheel shape, and wheel efficiency is identical with the walking mechanism with same diameter wheel.Non-
In the case of regular landform, when obstacle height is less, link gear just can surmount obstacles by its intrinsic obstacle detouring mode
Thing；When barrier reach a certain height, the link gear of left and right alternately rides on barrier, along with the friendship of barrier-crossing traveling mechanism
Replacing, running gear front portion just can clear the jumps.In the case of having barrier, running gear front portion has passed past obstacle
Thing, is positioned on barrier, and the position being at this moment in obstacle detouring is the middle part of running gear, due to bottom and the connection of running gear
Having anti-slop serrations on the obstacle detouring connecting rod of motivation structure, so rely on driving means, alternately obstacle crossing walking system just can be crossed smoothly
Barrier.In the case of having barrier, alternately the body left and right sides of obstacle crossing walking system has one or more respectively
During motivation structure, its obstacle detouring pattern is the most identical, and its difference is that every side has multiple link gear to be repeated several times Process.
When walking is at soft earth's surface (such as sandy beach, muddy, snowfield etc.), then walking mode at this moment and common landform walking mode
Identical, only obstacle detouring connecting rod (6) can play the effect of certain dispersive pressure, walks in these landform than being used alone wheel
Time efficiency high.Several alternately obstacle crossing walking systems are joined end to end, can improve obstacle detouring by the walking environment that barrier is higher
Performance.
The invention have the characteristics that:
The most alternately obstacle crossing walking system can have running on wheels pattern and obstacle detouring walking mode when walking, and according to obstacle
Thing automatically switches neatly between both walking modes；
2. timeliness rate of walking on flat hard earth's surface is close to the common wheel of equal radius；Walk after running into barrier
Pattern automatically switches, it is not necessary to the Detection & Controling of control system, improves reliability and stability；
3. after clearing the jumps, walking mode automatically switches, it is not necessary to the Detection & Controling of control system, improves reliability
With stability；
4. the driving control system replacing obstacle crossing walking system is succinctly efficient, and obstacle climbing ability is strong, and landform adaptability is good.
Accompanying drawing explanation
Figure 1A and Figure 1B is the alternately structure chart of a kind of body 1 in obstacle crossing walking system；
Fig. 2 A and Fig. 2 B is the alternately structure chart of a kind of barrier-crossing traveling mechanism in obstacle crossing walking system；
Fig. 3 A and Fig. 3 B is a kind of alternately front view that obstacle crossing walking system is overall and axonometric drawing；
Alternately obstacle crossing walking system front view and axonometric drawing when Fig. 4 A and Fig. 4 B is wheel number m=2 in link gear;
Alternately obstacle crossing walking system front view and axonometric drawing when Fig. 5 A and Fig. 5 B is wheel number m=4 in link gear；
When Fig. 6 A and Fig. 6 B is wheel number m=2 in link gear, alternately obstacle crossing walking system front view and the axle of series connection are surveyed
Figure；
When Fig. 7 A and Fig. 7 B is wheel number m=3 in link gear, alternately obstacle crossing walking system front view and the axle of series connection are surveyed
Figure；
The front view of the alternately obstacle crossing walking system connected when Fig. 8 A and Fig. 8 B is wheel number m=4 in link gear and axle
Mapping.
Specific implementation method
Seeing Figure 1A, Figure 1B-Fig. 8 A and Fig. 8 B, this replaces obstacle crossing walking system and is made up of body 1 and link gear.Linkage
Mechanism is symmetrically mounted on body 1 left and right sides, the two ends being shorter than link gear 5 and 8 at the two ends of body 1.The bottom of body 1 can
To be provided with anti-slop serrations 4.Link gear used in system is all made up of a number of wheel 3 and obstacle detouring connecting rod 6, its wheel 3
Quantity can as required depending on, obstacle detouring connecting rod 6 rear and front end can be provided with bending 7, can be provided with anti-slop serrations 9 bottom it.Left and right
The type of drive of the link gear 5 and 8 of linkage is that a driving means can drive one or more wheels.Body 1 and connection
Couple together by attachment means 10 between motivation structure 5 and 8.When regular landform is walked, its walking mode is running on wheels mould
Formula, relies primarily on wheel 3 and walks.When non-regular landform is walked, its walking mode is obstacle detouring walking mode, and it relies on linkage
Switching between mechanism 5 and 8 wheel and obstacle detouring connecting rod 6 is walked, or between barrier-crossing traveling mechanism 5 and barrier-crossing traveling mechanism 8
Mutually switching is walked.Before and after each body 1, side is provided with the locking device 2 being connected with other vehicle, for by multiple machines
Body unit couples together.
See Fig. 6 A, Fig. 6 B-Fig. 8 A, Fig. 8 B, alternately should can include that several can join end to end by obstacle crossing walking system
Body, before and after each body, side is provided with the locking device 2 being connected with other body, for being connected by multiple bodies
Come.
The present invention is suitable to wild environment and walks in complicated landform, and link gear quantity used in system does not limits, linkage
The quantity of wheel used in mechanism does not limits.
When installation should replace obstacle crossing walking system, only link gear need to be fixed on body.
When alternately obstacle crossing walking system regular landform up walk time identical with ordinary wheel sub-line walking modes；During obstacle detouring without
Control system detects and controls, and this obstacle crossing walking system meeting is according to whether there is barrier automatic switchover wheel walking manner.
For the walking environment that barrier is higher, several alternately obstacle crossing walking systems are joined end to end.
For the wheel that diameter is identical, select link gear during wheel subnumber m=1 when obstacle climbing ability requires higher, work as load
The link gear that wheel subnumber is many is selected when Capability Requirement is higher.
Claims (5)
1. an obstacle crossing walking system for link gear and link gear alternately switching, including body (1) and link gear (5 Hes
8)；It is characterized in that: described link gear (5 and 8) includes wheel (3) and obstacle detouring connecting rod (6), described wheel has m, diameter
Equal, wherein m is to be respectively equipped with hole, location on integer and >=1, described wheel and obstacle detouring connecting rod, by active pin shaft by hole, location
Wheel and obstacle detouring connecting rod being connected together, the selection of the position of positioning hole on described wheel should be to greatest extent close to wheel
Circumference, and the hole, location of each wheel is consistent to the distance of respective axle center hole；The axle center hole of described wheel connects power drive dress
The drive shaft put；Described link gear (5 and 8) is symmetrically mounted on body (1) left and right sides；The two ends of body (1) are shorter than linkage
The two ends of mechanism (5 and 8)；Described link gear (5 and 8) has two kinds of walking forms, uses wheeled row when smooth ground running
Walking modes, automatically switches into obstacle detouring walking mode, i.e. mutually cutting between link gear and link gear when running into barrier
Bring walking；The bottom of body (1) is provided with anti-slop serrations (4)；Described body (1) have end to end several, each body
Before and after side be provided with the locking device being connected with other body, each body lateral symmetry installs least one set link gear.
The obstacle crossing walking system of link gear the most according to claim 1 and link gear alternately switching, it is characterised in that:
Described obstacle detouring connecting rod (6) rear and front end is provided with bending (7) upwards, and obstacle detouring connecting rod (6) bottom is provided with anti-slop serrations (9).
The obstacle crossing walking system of link gear the most according to claim 1 and link gear alternately switching, it is characterised in that:
The left and right sides of described body (1) can fill one or more link gear respectively.
The obstacle crossing walking system of link gear the most according to claim 1 and link gear alternately switching, it is characterised in that:
The type of drive of described link gear is that a driving means drives one or more wheels.
The obstacle crossing walking system of link gear the most according to claim 1 and link gear alternately switching, it is characterised in that:
It is connected by attachment means (10) between described body (1) and link gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210075216.5A CN102602470B (en) | 2012-03-21 | 2012-03-21 | A kind of obstacle crossing walking system of link gear and link gear alternately switching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210075216.5A CN102602470B (en) | 2012-03-21 | 2012-03-21 | A kind of obstacle crossing walking system of link gear and link gear alternately switching |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102602470A CN102602470A (en) | 2012-07-25 |
| CN102602470B true CN102602470B (en) | 2016-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210075216.5A Expired - Fee Related CN102602470B (en) | 2012-03-21 | 2012-03-21 | A kind of obstacle crossing walking system of link gear and link gear alternately switching |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103600785A (en) * | 2013-11-18 | 2014-02-26 | 西南大学 | Wheeled dive mechanism capable of climbing continuous steps |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102107685A (en) * | 2011-01-12 | 2011-06-29 | 西南大学 | Six-foot robot with eccentric wheel legs |
| CN102211625A (en) * | 2011-04-29 | 2011-10-12 | 上海交通大学 | Support rod type obstacle detouring wheel |
| CN102582711A (en) * | 2012-03-20 | 2012-07-18 | 西南大学 | Body and linkage mechanism alternately-switched obstacle-surmounting traveling system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4543278B2 (en) * | 2004-05-01 | 2010-09-15 | ウラカミ合同会社 | Device that can move along the surface of an object |
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2012
- 2012-03-21 CN CN201210075216.5A patent/CN102602470B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102107685A (en) * | 2011-01-12 | 2011-06-29 | 西南大学 | Six-foot robot with eccentric wheel legs |
| CN102211625A (en) * | 2011-04-29 | 2011-10-12 | 上海交通大学 | Support rod type obstacle detouring wheel |
| CN102582711A (en) * | 2012-03-20 | 2012-07-18 | 西南大学 | Body and linkage mechanism alternately-switched obstacle-surmounting traveling system |
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| Publication number | Publication date |
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| CN102602470A (en) | 2012-07-25 |
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