CN105864383B - A kind of self adaptation barrier getting over mechanism - Google Patents
A kind of self adaptation barrier getting over mechanism Download PDFInfo
- Publication number
- CN105864383B CN105864383B CN201610297759.XA CN201610297759A CN105864383B CN 105864383 B CN105864383 B CN 105864383B CN 201610297759 A CN201610297759 A CN 201610297759A CN 105864383 B CN105864383 B CN 105864383B
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- Prior art keywords
- over mechanism
- getting over
- barrier getting
- carrier
- motor
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of self adaptation barrier getting over mechanism, including motor；Expert's carrier, including at least two legs stretched out, and center sprocket wheel and multiple planet sprockets are set on central gear and planetary gear, another side towards setting on the side of the motor；Central gear, is fixed in expert's carrier by the way that first axle is rotatable, motor output shaft connection central gear；Planetary gear is fixed in expert's carrier by the way that the second axle is rotatable, and is engaged with central gear；Center sprocket wheel is fixed on the second axle, and center sprocket wheel and planetary gear rotate jointly；Multiple planet sprockets, are rotatably arranged on the outer end of leg correspondingly；Chain is engaged simultaneously with center sprocket wheel and multiple planet sprockets；Travel wheel is coaxially fixed with the multiple planet sprocket respectively, and is rotated jointly with multiple planet sprockets.Self adaptation barrier getting over mechanism of the present invention ensures the smooth obstacle detouring of barrier-surpassing robot according to different obstacle detouring situations, the moment of torsion of adjustment motor.
Description
Technical field
The present invention relates to obstacle detouring mechanical structure.It is more particularly related to a kind of self adaptation planet circular system obstacle detouring machine
Structure.
Background technology
The research of present crossing obstacle automatically mechanism is more, mainly including following two types：One is crawler type barrier getting over mechanism, tool
Have a preferable road surface handling capacity, but there is big weight, it is complex structure, bulky, on the other hand cross slope again
When spending larger barrier, easily overturn.Two be triangle wheel type barrier-crossing mechanism, has the advantages that easy to use, but is deposited
In complex structure, be related to that field is wide, cost control is difficult, automatic identification rate is not sufficiently stable, the transmission of power and the utilization of energy not
Fully, required power is big, the shortcomings of loss is heavy.Therefore, it is very urgent to a kind of simple and effective transmission mechanism demand.
The content of the invention
It is an object of the present invention to provide a kind of self adaptation barrier getting over mechanism, before having been driven by motor-driven triangle planet circular system
Enter, when barrier getting over mechanism runs into obstacle, travel wheel is switched to by rotation and revolved round the sun around triangle planet circular system, so that smoothly obstacle detouring.
It is a still further object of the present invention to provide a kind of self adaptation barrier getting over mechanism, controller is according to the different obstacle detouring moments of resistance
The output torque of motor is adjusted, planet circular system barrier getting over mechanism obstacle detouring caused by skidding or stalling is solved and fails.
In order to realize according to object of the present invention and further advantage there is provided self adaptation barrier getting over mechanism, including：
Motor, including motor output shaft；
Expert's carrier, it includes at least two legs stretched out, and towards setting on the side of the motor
Put and center sprocket wheel and multiple planet sprockets are set on central gear and planetary gear, another side；And
The central gear, it is fixed in expert's carrier by the way that first axle is rotatable, and the motor output shaft connects
Connect the central gear；
The planetary gear, it is fixed in expert's carrier by the way that the second axle is rotatable, and with the sun tooth
Wheel engagement；
The center sprocket wheel, it is fixed on second axle, and the center sprocket wheel and the planetary gear rotate jointly；
The multiple planet sprocket, it is rotatably arranged on the outer end of the leg correspondingly；
Chain, it is engaged simultaneously with the center sprocket wheel and the multiple planet sprocket；
Travel wheel, it is coaxially fixed with the multiple planet sprocket respectively, and is revolved jointly with the multiple planet sprocket
Turn.
Preferably, also include：Torque sensor, it is arranged in driving motor output shaft, and the torque sensor is surveyed
Measure the moment of torsion of motor；Controller, it connects torque sensor and motor, and the controller receives the letter of torque sensor
Number, and control the power output of motor.
Preferably, when the barrier getting over mechanism runs into obstacle travel wheel with ground skidding, to ensure that barrier getting over mechanism revolution is got over
Barrier, real-time torque T ' satisfaction of controller controlled motor：
Wherein, θ is angle between road wheel, and k is barrier getting over mechanism gearratio, and η is the mechanical efficiency of barrier getting over mechanism；M is more
Hinder the quality of mechanism, f is barrier getting over mechanism and the coefficient of kinetic friction on ground, and R is the radius of turn of barrier getting over mechanism.
Preferably, the barrier getting over mechanism runs into obstacle and taking turns with ground does not have relative motion, to ensure that barrier getting over mechanism is public
Turn obstacle detouring, real-time torque T ' satisfaction of controller controlled motor；
Wherein, θ is angle between road wheel, and k is barrier getting over mechanism gearratio, and η is the mechanical efficiency of barrier getting over mechanism；M is more
Hinder the quality of mechanism, f is barrier getting over mechanism and the coefficient of kinetic friction on ground, and R is the radius of turn of barrier getting over mechanism.
Preferably, when the barrier getting over mechanism is advanced on level land, travel wheel rotation drives barrier getting over mechanism to advance.
Preferably, the planetary quantity is three, and the central gear is engaged with three planetary gears,
Three planetary gears arrange into equilateral triangular shape.
Preferably, also including layman's carrier, expert's carrier is identical with layman's carrier shape, expert's carrier and
Center sprocket wheel, planet sprocket and chain described in space between layman's carrier.
Preferably, also including planetary gear cover plate, it is with central gear homonymy and is fixedly mounted in expert's carrier, institute
Stating the space between planetary gear cover plate and expert's carrier is used to accommodate the central gear and the planetary gear.
Preferably, expert's carrier has three overhanging legs, and the quantity of the planet sprocket is three, three
The line of centres formation equilateral triangle of the individual planet sprocket.
Preferably, the planet sprocket is engaged in the inner side of the chain, and the center chain is engaged in the outside of the chain
Wheel.
The present invention at least includes following beneficial effect：1st, be capable of mechanical self-adaptability in the course of the work realizes travel wheel certainly
Turn the conversion between planet carrier revolution, make mechanism that there is self adaptation obstacle climbing ability, simple in construction and efficiency is increased substantially；
2nd, make operation workflow simple by the way of gear drive and Chain conveyer are combined, easy to operate, performance is improved, and extension uses the longevity
Life；The 3rd, torque sensor be installed in mechanism, and measurement motor output torque value is transmitted to controller, controller is not according to sympathizing with
Condition calculates obstacle detouring moment of torsion, and regulation motor output torque is higher than obstacle detouring moment of torsion, it is ensured that the smooth obstacle detouring of barrier getting over mechanism, while reducing electricity
The power output of machine, less energy consumption.
Further advantage, target and the feature of the present invention embodies part by following explanation, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is the structure chart of the barrier getting over mechanism of the present invention.
Fig. 2 is the front view of the epicyclic train of the barrier getting over mechanism of the present invention.
Fig. 3 is the rearview of the epicyclic train of the barrier getting over mechanism of the present invention.
Fig. 4 is schematic diagram of the barrier getting over mechanism in level walking of the present invention.
Fig. 5 is the state diagram of the crossing over blockage of the barrier getting over mechanism of the present invention.
Fig. 6 is the state diagram of the crossing over blockage of the barrier getting over mechanism of the present invention.
Fig. 7 is the state diagram of the crossing over blockage of the barrier getting over mechanism of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or many
The presence or addition of individual other elements or its combination.
Fig. 1-3 show according to the present invention a kind of way of realization, barrier getting over mechanism include motor 100, planet circular system 200,
Travel wheel 300, torque sensor and controller, the connection epicyclic train 200 of output shaft 110 of motor 100, epicyclic train
200 accelerated after power is transferred to travel wheel 300, the torque sensor measurement motor 100 on motor 100
Moment of torsion, controller receives torque sensor data and after being handled, and the output torque of controller controlled motor 100 reaches it
To target torque, the travel wheel 300 of barrier getting over mechanism revolves round the sun around planet circular system 200, success crossing over blockage.
As Fig. 1 shows the structure and annexation of the motor 100, planet circular system 200 and travel wheel 300 of barrier getting over mechanism,
Wherein, torque sensor is common sensor, is not shown.Motor 100 is adjusting torque formula motor, its output shaft
110 connection planet circular systems 200；Wherein, torque sensor is installed, the torque sensor measurement is using strain on output shaft 110
Piece electric detecting technology, pastes foil gauge composition measuring bridge thereon, causes electric bridge electricity after micro-strain when output shaft is produced by moment of torsion
Change in resistance, the change transitions of strain bridge resistance, so as to realize torque measurement, electricity are measured so as to realize into the change of electric signal
The moment of torsion of machine.
From Fig. 1-3, epicyclic train 200 is gear, by motor 100 export power according to a stable drive ratio
Accelerated, it includes central gear 210, planetary gear 220, planetary gear cover plate 230, expert's carrier 240, layman's carrier
250th, center sprocket wheel 260, planet sprocket 270, chain 280 and traveling wheel shaft 290.Central gear 210 is provided with central through hole, outside it
Teeth are laid with circumference, wherein, the size of central through hole and output shaft 110 is to matching, for connecting motor output shaft 110,
Central gear 210 is rotatably connected in the center of interior planet carrier 240.Including planetary gear 220 is rotatably connected by central shaft
On planet carrier 240, teeth are laid on its excircle.Wherein, the central gear 210 and planetary gear 220 pass through planetary gear
Cover plate 230 is fixed on the homonymy in interior planet carrier 240, is further, and three planetary gears 220 angularly lay car equilateral three
It is angular, and engaged with central gear 210, drive three planetary gears 220 to rotate by central gear 210.Center sprocket wheel 260 and row
Star gear 220 is concentric to be set, and is fixed on by same central shaft the both sides of expert's carrier 240, the rotation of planetary gear 220
The synchronous axial system of drive center sprocket wheel 260.As seen from Figure 3, center sprocket wheel 260, chain 280 and planet sprocket 270 are laid in expert
The same side of carrier 240, is further to be arranged on the opposite of expert's carrier 240 with central gear 210 and planetary gear 220
Side, wherein, three planet sprockets 270 are connected on three angles of expert's carrier 240 by traveling wheel shaft 290,280 points of chain
Bie Yu centers sprocket wheel 260 and planet sprocket 270 are engaged, i.e., center sprocket wheel 260 drives planet sprocket 270 to rotate by chain 280,
So as to drive the traveling wheel shaft 290 being fixedly connected with planet sprocket 270 to rotate.As seen from Figure 1, traveling wheel shaft 290 is set in flat
In the expert's carrier 240 and layman's carrier 250 that row is set, expert's carrier 240 is identical with the structure of layman's carrier 250, is irregular
Triangular structure, wherein, traveling wheel shaft 290 connects travel wheel 300 at the expenditure end of outer planet carrier 250, and three travel wheels 300 are led to
Cross the connection planet circular system 200 of traveling wheel shaft 290.
Controller connects torque sensor, and it is used for the signal for receiving, storing and showing torque sensor, the controller
Including reception of wireless signals unit and transmission unit, for receiving the signal with transfer of torque sensor, it is further, controls
Device connects motor and for the output torque of controlled motor.
Fig. 4 shows state of the barrier getting over mechanism in level walking, because surface resistance square is less than planetary gear from torque,
Motor 100 drives central gear 210 to rotate by output shaft 110, and central gear 210 drives three planetary gears engaged
220 rotate, so as to drive three center sprocket wheel 260 synchronous axial systems coaxial with planetary gear 220, center sprocket wheel 260 by with
Its chain 280 engaged drives three planet sprockets 270 to rotate, so as to drive the central shaft traveling wheel shaft 290 of planet sprocket 270
Rotate, three traveling wheel shafts 290 drive the rotation of travel wheel 300 for being secured to connection, so as to realize the advance of barrier getting over mechanism.Figure
5-7 shows the state of barrier getting over mechanism crossing over blockage, and because planet circular system is acceleration system, planetary gear revolution moment of torsion is much larger than certainly
Torque, motor 100 drives central gear 210 to rotate by output shaft 110, and three planets engaged with central gear 210
Gear 220 is stagnated, so that central gear 210 drives expert's carrier 240 to be revolved round the sun around motor output shaft 110, makes planet circular system 200
Barrier getting over mechanism is driven to be revolved round the sun around motor output shaft 110, so that throwing over barrier.But there will be two kinds of situations during obstacle detouring：One be
Travel wheel 300 is skidded with ground at barrier；Two be that travel wheel 300 does not have relative motion with ground at barrier, that is, is stopped
Rotate, the condition of barrier getting over mechanism obstacle detouring in the case of two kinds is discussed separately below.
When travel wheel 300 and ground are skidded, the real-time torque T of controller measurement barrier getting over mechanism ', controller is according to formula
(1) moment of torsion that calculating obstacle detouring needs is T1, the real-time torque T of controller controlled motor '>T1, barrier getting over mechanism is around motor output shaft public affairs
Turn so as to obstacle detouring：
Wherein, λ is the first factor of influence, the shadow of reflection angle, θ, gearratio k, mechanical efficiency η and radius R to obstacle detouring moment of torsion
Ring, its computing formula (2) is：
Wherein, λ is the first factor of influence, zero dimension；Angle between three road wheels of the θ to constitute equilateral triangle, it is single
Position is degree；K is planet gear transmission ratio, zero dimension；η is the mechanical efficiency of barrier getting over mechanism；M is the quality of barrier getting over mechanism, and unit is
g；F is barrier getting over mechanism and the coefficient of kinetic friction on ground, zero dimension, the equilateral triangle that R is formed for three road wheels of barrier getting over mechanism
The radius of the circumcircle of shape, unit is rice.
When travel wheel 300 and ground do not have relative motion, i.e. travel wheel stop motion, controller is counted according to formula (2)
The moment of torsion that calculating obstacle detouring needs is T2, the real-time torque T of controller controlled motor '>T2, barrier getting over mechanism around motor output shaft revolve round the sun from
And obstacle detouring；
Wherein, λ is the first factor of influence, the shadow of reflection angle, θ, gearratio k, mechanical efficiency η and radius R to obstacle detouring moment of torsion
Ring, its computing formula (4) is：
Wherein, λ is the first factor of influence, zero dimension；Angle between three road wheels of the θ to constitute equilateral triangle, it is single
Position is degree；K is planet gear transmission ratio, zero dimension；η is the mechanical efficiency of barrier getting over mechanism；M is the quality of barrier getting over mechanism, and unit is
g；F is barrier getting over mechanism and the coefficient of kinetic friction on ground, zero dimension, the equilateral triangle that R is formed for three road wheels of barrier getting over mechanism
The radius of the circumcircle of shape, unit is rice.
The present invention at least includes following beneficial effect more than：1st, it is capable of the realization row of mechanical self-adaptability in the course of the work
Enter to take turns the conversion between rotation and planet carrier revolution, make mechanism that there is self adaptation obstacle climbing ability, simple in construction and efficiency is significantly
Degree is improved；2nd, make operation workflow simple by the way of gear drive and Chain conveyer are combined, easy to operate, performance is improved, extension
Service life；The 3rd, torque sensor be installed in mechanism, and measurement motor output torque value is transmitted to controller, controller according to
Different situations calculate obstacle detouring moment of torsion, and regulation motor output torque is higher than obstacle detouring moment of torsion, it is ensured that the smooth obstacle detouring of barrier getting over mechanism, simultaneously
Reduce the power output of motor, less energy consumption.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With.It can be applied to various suitable the field of the invention completely., can be easily for those skilled in the art
Realize other modification.Therefore under the universal limited without departing substantially from claim and equivalency range, the present invention is not limited
In specific details and shown here as the legend with description.
Claims (9)
1. a kind of self adaptation barrier getting over mechanism, it is characterised in that including：
Motor, including motor output shaft；
Expert's carrier, it includes at least two legs stretched out, and towards setting too on the side of the motor
Center sprocket wheel and multiple planet sprockets are set on positive gear and planetary gear, another side；And
The central gear, it is fixed in expert's carrier by the way that first axle is rotatable, and the motor output shaft connects institute
State central gear；
The planetary gear, it is fixed in expert's carrier by the way that the second axle is rotatable, and is nibbled with the central gear
Close；
The center sprocket wheel, it is fixed on second axle, and the center sprocket wheel and the planetary gear rotate jointly；
The multiple planet sprocket, it is rotatably arranged on the outer end of the leg correspondingly；
Chain, it is engaged simultaneously with the center sprocket wheel and the multiple planet sprocket；
Travel wheel, it is coaxially fixed with the multiple planet sprocket respectively, and is rotated jointly with the multiple planet sprocket；
When the barrier getting over mechanism runs into obstacle travel wheel with ground skidding, to ensure barrier getting over mechanism revolution obstacle detouring, controller control
Real-time torque T ' satisfaction of motor：
Wherein, θ is angle between road wheel, and k is barrier getting over mechanism gearratio, and η is the mechanical efficiency of barrier getting over mechanism；M is obstacle detouring machine
The quality of structure, f is barrier getting over mechanism and the coefficient of kinetic friction on ground, and R is the radius of turn of barrier getting over mechanism.
2. self adaptation barrier getting over mechanism as claimed in claim 1, it is characterised in that also include：
Torque sensor, it is arranged in driving motor output shaft, the moment of torsion of the torque sensor measurement motor；
Wherein, the controller connection torque sensor and motor, the controller receive the signal of torque sensor, and
Control the output torque of motor.
3. self adaptation barrier getting over mechanism as claimed in claim 2, it is characterised in that the barrier getting over mechanism runs into obstacle and taken turns and ground
Face does not have relative motion, to ensure barrier getting over mechanism revolution obstacle detouring, real-time torque T ' satisfaction of controller controlled motor；
Wherein, θ is angle between road wheel, and k is barrier getting over mechanism gearratio, and η is the mechanical efficiency of barrier getting over mechanism；M is obstacle detouring machine
The quality of structure, f is barrier getting over mechanism and the coefficient of kinetic friction on ground, and R is the radius of turn of barrier getting over mechanism.
4. self adaptation barrier getting over mechanism as claimed in claim 3, it is characterised in that when the barrier getting over mechanism is advanced on level land, OK
Entering to take turns rotation drives barrier getting over mechanism to advance.
5. the self adaptation barrier getting over mechanism as any one of claim 3-4, it is characterised in that the planetary quantity
For three, the central gear is engaged with three planetary gears, and three planetary gears arrange into equilateral triangle
Shape shape.
6. the self adaptation barrier getting over mechanism as any one of claim 3-4, it is characterised in that also including layman's carrier, institute
State that expert's carrier is identical with layman's carrier shape, center chain described in the space between expert's carrier and layman's carrier
Wheel, planet sprocket and chain.
7. self adaptation barrier getting over mechanism as described in claim 6, it is characterised in that also including planetary gear cover plate, its with too
Positive gear homonymy is simultaneously fixedly mounted in expert's carrier, and the space between the planetary gear cover plate and expert's carrier is used for
Accommodate the central gear and the planetary gear.
8. the self adaptation barrier getting over mechanism as described in claim 1 or 7, it is characterised in that expert's carrier has outside three
The leg stretched, the quantity of the planet sprocket is three, the line of centres formation equilateral triangle of three planet sprockets.
9. self adaptation barrier getting over mechanism as described in claim 8, it is characterised in that engage the planet in the inner side of the chain
Engage the center sprocket wheel in sprocket wheel, the outside of the chain.
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|---|---|---|---|
| CN201610297759.XA CN105864383B (en) | 2016-05-06 | 2016-05-06 | A kind of self adaptation barrier getting over mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610297759.XA CN105864383B (en) | 2016-05-06 | 2016-05-06 | A kind of self adaptation barrier getting over mechanism |
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| CN105864383A CN105864383A (en) | 2016-08-17 |
| CN105864383B true CN105864383B (en) | 2017-07-14 |
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| CN108515841A (en) * | 2018-06-19 | 2018-09-11 | 湖北科技学院 | A kind of automobile |
| CN108790804A (en) * | 2018-06-19 | 2018-11-13 | 湖北科技学院 | A kind of clutch on automotive wheel |
| CN109397982B (en) * | 2018-12-08 | 2023-09-22 | 新乡北方车辆仪表有限公司 | Multifunctional turning wheel based on combined gear train |
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| DE2937767A1 (en) * | 1979-09-19 | 1981-04-02 | Robert 6640 Merzig Balve | Reduction gear combining planet gear and chain drive - has chain drive supported between rotating arms connected to rolling support |
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| CN104948709A (en) * | 2014-03-24 | 2015-09-30 | 李军委 | Differential bevel gear driving type multi-wheel carrier |
| CN204937301U (en) * | 2015-09-15 | 2016-01-06 | 中国科学院沈阳自动化研究所 | A kind of flame-proof type barrier-surpassing robot |
| CN105292219A (en) * | 2015-11-16 | 2016-02-03 | 湖北汽车工业学院 | Stair climbing vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2937767A1 (en) * | 1979-09-19 | 1981-04-02 | Robert 6640 Merzig Balve | Reduction gear combining planet gear and chain drive - has chain drive supported between rotating arms connected to rolling support |
| CN103169579A (en) * | 2013-04-17 | 2013-06-26 | 程世赞 | Rapidly-dismounted electric stair-climbing wheelchair |
| CN103569181A (en) * | 2013-08-02 | 2014-02-12 | 李军委 | Planetary multi-wheel carrier stair climbing vehicle |
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| CN103407510A (en) * | 2013-08-21 | 2013-11-27 | 上海工程技术大学 | Deformable planet wheel robot with left body and right body hinged |
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|---|---|
| CN105864383A (en) | 2016-08-17 |
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Inventor after: Hong Ri Inventor after: Chen Jinshi Inventor after: Min Zhaoxiang Inventor before: Hong Ri Inventor before: Chen Jinshi |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170714 Termination date: 20210506 |