CN109878592A - A kind of compound running gear of wheel leg - Google Patents
A kind of compound running gear of wheel leg Download PDFInfo
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- CN109878592A CN109878592A CN201910299874.4A CN201910299874A CN109878592A CN 109878592 A CN109878592 A CN 109878592A CN 201910299874 A CN201910299874 A CN 201910299874A CN 109878592 A CN109878592 A CN 109878592A
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- leg
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- walking
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Abstract
The invention discloses a kind of compound running gears of wheel leg, including ring gear and three walking legs being arranged on ring gear, the walking leg includes: drive wheel bracket, gear, first motor, telescopic rod, wheel carrier, traveling wheel and the second motor, wherein, the first motor is arranged in the drive wheel bracket, for driving gear, second motor is arranged on wheel carrier, for driving traveling wheel, wherein, two walking legs in three walking legs are in walking states, and third walking leg is in obstacle detouring stand-by state on ring gear.The compound running gear of wheel leg of the invention can be advanced by the way of traveling wheel rolling on smooth road, after encountering obstacle, control section on device is by controlling the first motor on multiple walking legs, telescopic rod mutual cooperation, it realizes the purpose to surmount obstacles, improves the mobile stability of the compound running gear of wheel leg.
Description
Technical field
The present invention relates to robot walking device fields, and in particular to a kind of compound running gear of wheel leg.
Background technique
Transformable robot mechanism is many kinds of on the market at present, although transformable pattern is abundant, structure is excessively
Complexity, and the movement of certain simple structuring landform cannot be completed, therefore, it is necessary to design one kind can be applicable in simple landform and
The robot of complicated landform.
Summary of the invention
To overcome the shortcomings of existing technologies, the purpose of the present invention is to provide a kind of compound running gear of wheel leg, Ke Yishi
The purpose now to surmount obstacles.
For this purpose, the invention proposes a kind of compound running gear of wheel leg, including ring gear and three rows being arranged on ring gear
Leg is walked, the walking leg includes: drive wheel bracket, gear, first motor, telescopic rod, wheel carrier, traveling wheel and the second electricity
Machine, wherein the first motor is arranged in the drive wheel bracket, and for driving gear, second motor is arranged in vehicle
On wheel carrier, for driving traveling wheel, wherein two walking legs in three walking legs are in walking states, third row
Leg is walked on ring gear in obstacle detouring stand-by state.
The invention also provides a kind of compound running gears of wheel leg, including guiding annulus and are arranged in more on guiding annulus
A walking leg, the walking leg includes: drive wheel bracket, roller, first motor, telescopic rod, wheel carrier, traveling wheel, Yi Ji
Two motors, wherein the mating surface of the guiding annulus and the roller is rough surface, makes not produce in the two relative movement
Raw slipping phenomenon, wherein two walking legs in multiple walking legs are in walking states, other walking legs are in guiding annulus
It is upper to be in obstacle detouring stand-by state.
The compound running gear of wheel leg of the invention can be advanced by the way of traveling wheel rolling on smooth road, work as chance
To after obstacle, the control section on device is got over by controlling the first motor on multiple walking legs, telescopic rod mutual cooperation, realization
The purpose of obstacle is crossed, the mobile stability of the compound running gear of wheel leg is improved.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to figure, the present invention is described in further detail.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of the compound running gear of wheel leg of the invention；
Fig. 2 is the structural schematic diagram of walking leg in the compound running gear of wheel leg of the invention；And
Fig. 3 a- Fig. 3 e is the deformation process schematic diagram of the compound running gear of wheel leg of the invention.
Description of symbols
1, gear；2, first motor；
3, drive wheel bracket；4, telescopic rod；
5, wheel carrier；6, the second motor；
7, traveling wheel；10, walking leg；
20, ring gear.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Fig. 1-Fig. 3 is shown according to some embodiments of the present invention.
In one embodiment, as shown in Figure 1, a kind of compound running gear of wheel leg, comprising: ring gear 20 and three walking legs
10, wherein each walking leg 10 includes gear 1, first motor 2, drive wheel bracket 3, telescopic rod 4, wheel carrier 5, walking
Wheel 7 and the second motor 6.
Specifically, as shown in Figure 1, 2, the first motor 2 is fixed on 3 outside of drive wheel bracket, first motor 2 and gear
1 is driven by key, and the gear 1 is supported in drive wheel bracket 3 by pin and can be rotated, wherein drive wheel bracket 3 is U-shaped
Block structure, 3 inner face of drive wheel bracket are that arc surface can be slided with the concyclic heart of 20 outer ring surface of ring gear in drive wheel bracket 3
It is dynamic.
Specifically, as shown in Fig. 2, telescopic rod 4 is fixed in 3 lower end surface of the drive wheel bracket, 4 end of telescopic rod is fixed with vehicle
Wheel carrier 5, the second motor 6 is fixed on 5 side of wheel carrier, and is driven with traveling wheel 7 by key, the walking of realization device.
In the present embodiment, the inside of ring gear 20 is arranged with several driving cogs matched with gear 1, gear and ring gear
It is meshed, walking leg 10 can be made to move on ring gear 20 more smooth, accurate.
The walking leg deformation process of the compound running gear of wheel leg of the invention is as follows:
As shown in Figure 3a, during normal walking, first walking leg 10 ', second walking leg 10 " respectively with ground face contact,
Third walking leg 10 " ' it is in compressive state, and it is in vacant state, when the sensor or device front end installed on ring gear 20
Walking leg 10 on the sensor installed when detecting road surface ahead out-of-flatness, as shown in Figure 3b, control device controls the first row
Leg 10 ' to be walked to start to compress, the second walking leg 10 " starts to extend, and during this, the center of entire running gear is moved forward,
As shown in Figure 3c, third walking leg 10 " ' it is moved around ring gear, and be moved to the front end of device direction of advance, i.e., it is walked positioned at the first row
10 ' front of leg.
As shown in Figure 3d, third walking leg 10 " ' moving process in, third walk leg 10 " ' telescopic rod elongation and with
Ground face contact, wherein third is walked leg 10 " ' foothold be located on front side of barrier, meanwhile, the first telescopic rod for walking leg 10 '
It shrinks, its traveling wheel height is made to be higher than barrier, as shown in Figure 3 e, after the first walking leg 10 ' is across barrier, the first walking
The telescopic rod of leg 10 ' continues to extend, and the telescopic rod of the second walking leg 10 " shrinks and be in vacant state, to realize obstacle
The leap of object.
In another embodiment, the compound running gear of a kind of wheel leg, structure is identical as the structure of device in a upper embodiment,
Only be used only guiding annulus replace ring gear, using drive roller wheel replace gear, wherein it is described guiding annulus inner surface have compared with
High roughness, drive roller wheel use the metal roller of cylinder frosted or embossing, or using the rubber wheel of high roughness, driving
In roller and guiding annulus engagement process, it since frictional force is higher, move walking leg 10 can more on guiding annulus
It is smooth, accurate.
In another embodiment, compound running gear of a kind of wheel leg, including ring gear 20 and three or more walking leg 10,
In, in device moving process, only two walking legs 10 and ground face contact, other walking legs 10 are in hanging stand-by state, when
When needing to deform, other several walking legs 10 successively with ground face contact, are realized and cross over function.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (2)
1. a kind of compound running gear of wheel leg characterized by comprising ring gear (20) and three rows being arranged on ring gear (20)
Leg (10) are walked,
The walking leg (10) include: drive wheel bracket (3), gear (1), first motor (2), telescopic rod (4), wheel carrier (5),
Traveling wheel (7) and the second motor (6), wherein the first motor (2) is arranged on the drive wheel bracket (3), is used for
It drives gear (1), second motor (6) is arranged on wheel carrier (5), for driving traveling wheel (7)；
Wherein, two walking legs (10) in three walkings leg (10) are in walking states, and third walking leg (10) exists
Obstacle detouring stand-by state is on ring gear.
2. the compound running gear of wheel leg according to claim 1, which is characterized in that the quantity of walking leg (10) setting
It is three or more, the ring gear (20) is replaced using guiding annulus, the gear is replaced using roller, wherein the guiding circle
The mating surface of ring and the roller is rough surface, makes not generate slipping phenomenon in the two relative movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910299874.4A CN109878592B (en) | 2019-04-15 | 2019-04-15 | Wheel-leg composite walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910299874.4A CN109878592B (en) | 2019-04-15 | 2019-04-15 | Wheel-leg composite walking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109878592A true CN109878592A (en) | 2019-06-14 |
| CN109878592B CN109878592B (en) | 2020-12-15 |
Family
ID=66937315
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910299874.4A Active CN109878592B (en) | 2019-04-15 | 2019-04-15 | Wheel-leg composite walking device |
Country Status (1)
| Country | Link |
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| CN (1) | CN109878592B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239275A (en) * | 2019-06-25 | 2019-09-17 | 国网信息通信产业集团有限公司 | A kind of robot obstacles-surmounting wheel system |
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| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| JPH08154976A (en) * | 1994-12-02 | 1996-06-18 | Suzuki Gokin Kk | Running car provided with step difference running wheel |
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| Publication number | Publication date |
|---|---|
| CN109878592B (en) | 2020-12-15 |
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