CN113371083B - Wheel-track leg composite driving system and walking device - Google Patents
Wheel-track leg composite driving system and walking device Download PDFInfo
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- CN113371083B CN113371083B CN202110889033.6A CN202110889033A CN113371083B CN 113371083 B CN113371083 B CN 113371083B CN 202110889033 A CN202110889033 A CN 202110889033A CN 113371083 B CN113371083 B CN 113371083B
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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Abstract
The invention discloses a wheel-track leg composite driving system and a walking device, which comprise a wheel type walking module and a crawler type walking module, wherein the wheel type walking module comprises a first driving motor, a swing arm with one end connected to a rotor of the first driving motor, and a walking wheel connected to the other end of the swing arm; the travelling wheel is positioned on the side surface of the axis of the first driving motor; the crawler type walking module comprises a first telescopic piece and a crawler assembly, wherein a crawler wheel at one end of the crawler assembly is arranged on the telescopic output end of the first telescopic piece, and a crawler wheel at the other end of the crawler assembly is arranged on the swing arm; and the support wheel surface of the walking wheel is parallel to the support belt surface of the crawler belt on the crawler belt assembly. The walking device is a specific application of the driving system. By adopting the technical scheme provided by the scheme, the walking state of the required type can be obtained on the basis of simple structure.
Description
Technical Field
The invention relates to the technical field of movement devices, in particular to a wheel-track leg composite driving system and a walking device.
Background
In the tasks of bomb disposal and mine elimination, earthquake rescue, mine disaster search and rescue, jungle battle and the like, the terrain environment is complex, the operation conditions are hard, the traditional operation mode is generally operated directly by personnel, casualties and great loss are often caused, meanwhile, a large amount of instruments and equipment are required to be carried in field operation, the task load is heavy, the personnel load capacity is limited, and the single task benefit is greatly limited by the traditional operation mode.
Taking the existing walking robot as an example, in the prior art, mobile devices capable of autonomous operation are widely used for executing various tasks, and along with the diversification of motion systems and the development of control technologies matched with the mobile devices, the mobile devices gradually replace the traditional manual operation with the advantage that the direct operation of personnel cannot be compared with the traditional manual operation in the military and civil fields.
In order to adapt to multi-terrain tasks, in recent years, wheel-track-leg (walking wheel, track and leg) combined type motion platforms/moving mechanisms/robots in China are various in structure, and specifically, the wheel-track-leg combined type motion platforms/moving mechanisms/robots are as follows: the technical scheme of CN201310625042.X, CN201510819928.7, CN201922490199.1, CN201710310946.1 and the like provides a motion platform/moving mechanism/robot.
The further research and optimization of the structure of the multi-terrain adaptive motion platform/moving mechanism/robot can undoubtedly promote the further development of the robot technology in China.
Disclosure of Invention
Aiming at the technical problem that the further development of the robot technology in China can be undoubtedly promoted by further researching and optimizing the structure of the multi-terrain adaptive motion platform/moving mechanism/robot, the invention provides a wheel-track leg composite driving system and a walking device. By adopting the technical scheme, the walking state of the required type can be obtained on the basis of simple structure.
Aiming at the problems, the wheel-track leg composite driving system and the walking device provided by the invention solve the problems through the following technical key points: the wheel-track leg composite driving system comprises a wheel type walking module and a track type walking module,
the wheel type walking module comprises a first driving motor, a swing arm and a walking wheel, wherein one end of the swing arm is connected to a rotor of the first driving motor, and the walking wheel is connected to the other end of the swing arm;
the travelling wheel is positioned on the side surface of the axis of the first driving motor;
the crawler type walking module comprises a first telescopic piece and a crawler assembly, wherein a crawler wheel at one end of the crawler assembly is arranged on the telescopic output end of the first telescopic piece, and a crawler wheel at the other end of the crawler assembly is arranged on the swing arm;
and the support wheel surface of the walking wheel is parallel to the support belt surface of the crawler belt on the crawler belt assembly.
Among the prior art, like the technical scheme that utility model patent application that application number is CN201922490199.1 provided, for making the robot have good topography adaptability, can be in steady operation under various complicated operating mode and the weather condition, provide a technical scheme that can switch into wheeled walking, crawler-type walking and leg walking. Similar to the above solution, as provided in the patent application No. CN201710310946.1, the solution can also realize the switching between the crawler walking and the wheel walking by changing the form of the leg swing assembly, so as to adapt to different terrains.
The technical scheme has the advantages that the structure is simpler, the utilization rate of parts is higher, and the form holding capacity of a driving system is stronger on the basis of integrating wheels, tracks and supporting leg type walking.
In the concrete scheme, through setting up to one end to the other end by actuating system, include first driving motor, swing arm, track subassembly and first extensible member in proper order, the intermediate junction spare of swing arm and first extensible member is regarded as to the track subassembly promptly. When in specific use, the driving system is used as a supporting leg of the walking device and is connected with the frame of the walking device to form a four-bar linkage mechanism, so that: the angle of the swing arm and/or the first telescopic piece relative to the frame is restrained through the first driving motor or other auxiliary angle restraining pieces; through first driving motor drive swing arm rotation and first extensible member take place initiative flexible, can make running gear have following form:
the first form: in the swinging process of the swing arm and the process of the extension of the first extensible member, the two ends of the track assembly swing relative to the swing arm and the first extensible member respectively, so that the wheel surface of the walking wheel is positioned below the track supporting surface on the track assembly, and at the moment, the walking device can be in a wheel-type walking supporting state by driving the walking wheel to rotate;
and a second state: in the swinging process of the swing arm and the stretching process of the first telescopic piece, the two ends of the track assembly swing relative to the swing arm and the first telescopic piece respectively, so that the wheel surface of the travelling wheel is positioned above the track supporting surface on the track assembly, and the travelling device is in a track supporting and track travelling state by controlling the inclination angle of the track;
and a third state: at the flexible in-process of swing arm swing and first extensible member, swing for swing arm, first extensible member respectively through track subassembly both ends for the wheel face of walking wheel is located the top of track holding surface on the track subassembly, and through the control to track inclination (the inclination of track is greater than the support angle of track under the two circumstances of state under this state), makes running gear form the support at the lower extreme of first extensible member, and running gear is in the state of leg walking.
Meanwhile, under the three states, the gravity center height of the walking device can be adjusted by controlling the inclination angle of the swing arm, so that the relation between the walking speed and the passing capacity of the walking device under the current terrain is balanced. Such as:
when the walking device walks on a flat and hard ground, the swing arm is driven to rotate through the first driving motor, so that the walking device has a lower gravity center, and a higher walking speed is obtained on the premise that the walking device can stably travel; when there is the barrier in the place ahead, drive the swing arm through a driving motor and rotate for the frame is supported by the high-order, after obtaining the barrier throughput, through reducing walking speed, guarantees running gear's stationarity.
In the second state, when the walking device walks on muddy and soft ground, the support form of the track on the ground can be adjusted by controlling the angle of the swing arm and the elongation and angle of the first telescopic member.
And in the third state, when the walking device walks on the hollow ground, the supported height of the rack can be adjusted by controlling the angle of the swing arm and the elongation and angle of the first telescopic piece.
Meanwhile, under the first state, the second state and the third state, the first driving motor and/or the first telescopic piece can be used as a power source for adjusting the form of the specific driving system, the first state and the second state can be used for driving power to be derived from a second driving motor which is in transmission connection with the crawler assembly and the walking wheels, and the third state can be used for driving power to be derived from the first telescopic piece and/or the first driving motor. Therefore, the form adjusting power and the walking power of the driving system can be sourced and diversified.
In the scheme, under any state and any supporting height, the shape keeping of the driving system which can be matched with the rack to form the multi-link mechanism can be limited by the first telescopic piece and the swing arm, so that the driving system provided by the scheme is different from the prior art and has better shape keeping capacity;
in the scheme, under any state and any supporting height, the specific support of the driving system which can be matched with the rack to form the multi-link mechanism can be limited by the first telescopic piece and the swing arm at the same time, so that the driving system provided by the scheme is different from the prior art and has better rack supporting capacity;
in this scheme, under arbitrary state and arbitrary supporting height, the shape keeps and supports and keeps first extensible member and the equal emergence of swing arm and act on, for adopt solitary cantilever bar to realize scheme such as leg walking as among the prior art, this scheme still has the high characteristics of part utilization ratio. The characteristics facilitate the walking device to have stronger walking endurance and bouncing capability.
Meanwhile, the scheme is simple in structure and low in manufacturing cost.
When the telescopic joint is in specific use, in order to simplify the structure and facilitate manufacture and control, the first driving motor adopts a joint driving motor, and the first telescopic piece adopts a cylinder. In order to realize light load of the walking device and high explosion during the output of the bouncing force, the gas power source of the first telescopic piece can be derived from a compressed gas cylinder and the gas exhaust in gasoline. Preferably, the track assembly is designed to have better grip in the second state, and the track assembly comprises a plurality of track wheels which are more than 2 and are used as loading wheels and dragging wheels, and the section of the track below is restrained by the track wheels between two ends of the track assembly to have an inflection point which protrudes downwards. The above inflection points are used for changing the direction of the supporting surface of the belt section, so that the crawler belt is not limited to a form of stretching the two ends of the swing arm and the first telescopic piece in the swing of the swing arm and the length change process of the first telescopic rod, and the purpose of obtaining larger ground contact area is achieved.
As a further technical scheme of the wheel-track leg composite driving system:
in order to simplify actuating system structural design, realize the same power supply of track subassembly and walking wheel sharing, if adopt the second driving motor who is direct current motor, realize wheeled walking, crawler-type walking power flow distribution through power distribution spare, set up to: the crawler wheel on the swing arm is coaxial with the walking wheel.
As a specific track assembly and road wheel driving scheme, the device is characterized in that: the locking device also comprises a planetary speed reducer, a locking piece and a second driving motor;
the planetary reducer comprises a driving gear, a planet carrier, a planetary gear arranged on the planet carrier and a sun gear arranged on the outer side of the planet carrier, wherein the inner side and the outer side of the planetary gear are respectively meshed with the driving gear and the sun gear;
one of the crawler wheel and the walking wheel on the swing arm is coaxially connected to the sun gear, and the other one of the crawler wheel and the walking wheel is coaxially connected to the planet carrier;
a second chuck is coaxially arranged on the sun wheel, and a first chuck is coaxially arranged on the planet carrier;
the locking piece is used for realizing the rotation locking of the first chuck and the rotation locking of the second chuck, and the locking state of the first chuck and the second chuck is adjustable. When the scheme is specifically applied, when the first chuck is locked through the locking piece, the rotation of the planet carrier is locked, the sun gear is driven to rotate through the driving gear and the planet gear, one of the planet carrier and the sun gear is coaxially connected to rotate under the action of the second driving motor, if one of the planet carrier and the sun gear is a travelling wheel, the travelling wheel rotates under the action of the second driving motor, and the travelling wheel type travelling state of the travelling wheel can be obtained under the state; if one of the track wheels which is coaxially connected with the sun wheel is a track wheel, the track wheel is used as a driving wheel of the track assembly and rotates under the action of the second driving motor, and the crawler type walking state can be obtained under the state. By adopting the scheme, the driving system can have stronger climbing capability through the planetary reducer, and meanwhile, the power flow can be distributed as required under the conditions of simple structure and light weight.
For making this actuating system have running gear steering function when applying to running gear on, set up to: the hinge seat is fixedly connected to the first driving motor;
the articulated seat is provided with a rotary joint, and the first driving motor can rotate around the rotary joint in the following mode: the rotation axis of the first driving motor is perpendicular to the axis of the first driving motor. In this scheme, articulated seat can adopt the articulated seat of axle that the articulated seat of ball also adopted including the articulated shaft. In the concrete scheme, the hinged base is used as an intermediate connecting piece between a first driving motor connected with the hinged base and the rack, the first driving motor is pushed to rotate around the hinged base through thrust, the walking wheel can rotate synchronously with the first driving motor, and the purpose of steering and driving the walking wheel is achieved. With this scheme matching, to the first extensible member that links to each other with rotatable walking wheel through track subassembly, can adopt first extensible member to rotate the joint through the ball and link to each other with the frame, also can adopt first extensible member itself to match the swing arm deflection under articulated seat effect for the mode of rotatable cylinder.
As described above, in both the state one and the state two driving forms proposed above, the first driving motor can be used to rotate around the hinge base to realize the steering control of the traveling device, while in the state three driving form, the pre-adjustment of the traveling direction before the takeoff is preferably performed in the state one or the state two.
In order to control the magnitude of the steering force required by the left and right steering of the walking device conveniently, the steering device is set as follows: the first driving motor is used for driving the first telescopic piece to rotate around the rotating joint;
the rotating joint is located in the middle of the length direction of the first driving motor, the number of the second telescopic pieces is two, and the two second telescopic pieces are symmetrically hinged to the shell of the first driving motor on the left and right sides relative to the rotating joint. As a person skilled in the art, when the second telescopic part is applied to the walking device, the corresponding connection purpose can be achieved by adopting a ball hinge and a shaft hinge. When the concrete steering is implemented, for example, the left steering or the right steering of the walking device is realized through the second telescopic piece on the left side, and correspondingly, the right steering or the left steering of the walking device is realized through the second telescopic piece on the right side. Different from the adoption of a second telescopic piece, the problem of difference of steering moment arms can be effectively avoided.
In order to obtain a stable supporting form of the walking device, in the first state and the third state, the walking device is generally adopted as a four-point support, such as four-wheel support and four-leg support widely adopted in the prior art, the technical scheme of adopting three-wheel support is also included in the prior art, but the rear side of the walking device under a general condition comprises two supporting wheels, and the walking device is arranged in a way that a single driving system can be applied to the front side or rear side single-side support of the walking device: the both ends of first driving motor all are connected with the swing arm, and two swing arms are parallel to each other, all are connected with the walking wheel on the other end of each swing arm, and each swing arm all is connected with solitary first extensible member through solitary track subassembly. When the scheme is used specifically, the swing arms are preferably set to be equal in length, the walking wheels are installed at the bottom ends of the swing arms, and the walking wheels synchronously swing under the action of the first driving motor through the two sides of the first driving motor, so that the purpose of adapting to most of flat pavements is achieved. When the walking device needs to be applied to a slope surface, the left side and the right side of the walking device are respectively supported at different positions of the slope surface in the inclination direction, and the advancing direction is along the width direction of the slope surface, the design that the swing arms are not equal in length can also be adopted.
With above swing arm design matching that does not wait for length, the model and the size of first extensible member also need not set up to the same in this scheme, if through the concrete support needs that the specific mounted position that provides for first extensible member matches the frame in the frame.
The scheme also discloses a wheel-track leg composite walking device which comprises a frame and the driving system;
the driving system is connected to the rack through a first driving motor;
the first telescopic piece is rotatably connected to the rack, and the rotatable rotating shaft is parallel to the axis of the first driving motor;
when the first telescopic piece is telescopic, the position of the upper crawler wheel relative to the travelling wheel on the driving system can be switched between the following two positions:
a first position: the crawler wheel on the first telescopic piece is positioned at the lower side of the walking wheel;
and position two: the crawler wheel on the first telescopic piece is positioned on the upper side of the walking wheel.
As described above, the traveling device provided by the present disclosure is based on the specific application of the driving system, and a single traveling wheel, a track assembly and a first telescopic member form a fulcrum or a leg of the traveling device; the crawler type walking and the leg type walking of the walking device can be realized at the above positions, and the above position II is used for providing a wheel type walking scheme of the walking device.
As described above, the form adjustment power and the walking power source of the walking device can be multi-source and various;
under any state and any supporting height, the shape keeping of a driving system of the multi-link mechanism formed by the matched stand can be limited by the first telescopic piece and the swing arm, and the walking device provided by the scheme has better shape keeping capacity;
under any state and any supporting height, the specific support of the driving system of the multi-link mechanism formed by matching the stand can be limited by the first telescopic part and the swing arm at the same time, and the walking device provided by the scheme has better stand supporting capacity;
in this scheme, under arbitrary state and arbitrary supporting height, the shape keeps and supports and keeps first extensible member and the equal emergence of swing arm and act on, for adopt solitary cantilever bar to realize scheme such as leg walking as among the prior art, this scheme still has the high characteristics of part utilization ratio. The characteristics facilitate the walking device to have stronger walking endurance and bouncing capability.
Meanwhile, the scheme has simple structure and low manufacturing cost.
The further technical proposal of the wheel-track leg composite walking device is as follows:
as proposed above, in a specific driving system scheme, the structural design of the driving system satisfies the structural foundation required by different postures of the walking device gear train walking, the crawler-type walking and the leg-type walking, and simultaneously provides the structural foundation for realizing the steering of the walking device through the rotation of the first driving motor, so that the realization of the walking device does not depend on other forms of legs any more, and as a specific application, the driving system is set as: the walking device comprises a plurality of supporting legs for supporting the rack, and the supporting legs are the driving systems.
But each landing leg for making running gear form the multiple spot support all has swing arm inclination and adjust alone, first extensible member length adjustment ability alone to the realization forms the horizontal support to the frame on the inclined pavement, sets up to: each leg is a separate drive system.
As described above, in order to allow one drive system to satisfy two-point support on the front side or the rear side of the rack, it is configured that: the driving systems are all as follows: two ends of the first driving motor are both connected with swing arms which are parallel to each other, the other end of each swing arm is connected with a travelling wheel, and each swing arm is connected with an independent first telescopic piece through an independent crawler assembly;
the support legs comprise front support legs arranged on the front side of the rack and rear support legs arranged on the rear side of the rack;
the first driving motor of the front supporting leg is also fixedly connected with a hinge seat;
the articulated seat is provided with a rotary joint, and a first driving motor of the front supporting leg can rotate around the rotary joint in the following form: the rotating axis of the first driving motor is vertical to the axis of the first driving motor;
the first driving motor for driving the front supporting leg rotates around the rotating joint;
the rotary joint is located in the middle of the length direction of the first driving motor of the front supporting leg, the number of the second telescopic pieces is two, and the two second telescopic pieces are symmetrically hinged to the shell of the first driving motor in a left-right mode relative to the rotary joint. The scheme provides a specific scheme convenient for steering control and supporting height control.
The invention has the following beneficial effects:
this scheme provides a wheel-track leg composite drive system and running gear, running gear is for including actuating system's concrete application: the driving system is used as a support leg of the walking device.
The form adjusting power and the walking power of the driving system can be sourced and diversified. The power sources can be conveniently and flexibly distributed on the walking device, and the problems of poor controllable precision and high control difficulty of a single power source are solved through mutual constraint between the power sources; the problem of power output is relatively poor that single power source probably exists and is limited by volume, weight etc. is solved.
In the scheme, under any state and any supporting height, the shape keeping of the driving system which can be matched with the rack to form the multi-link mechanism can be limited by the first telescopic piece and the swing arm, so that the driving system provided by the scheme is different from the prior art and has better shape keeping capacity;
in the scheme, under any state and any supporting height, the specific support of the driving system which can be matched with the rack to form the multi-link mechanism can be limited by the first telescopic piece and the swing arm at the same time, so that the driving system provided by the scheme is different from the prior art and has better rack supporting capacity;
in this scheme, under arbitrary state and arbitrary supporting height, the shape keeps and supports and keeps first extensible member and the equal emergence of swing arm and act on, for adopt solitary cantilever bar to realize scheme such as leg walking as among the prior art, this scheme still has the high characteristics of part utilization ratio. The characteristics facilitate the walking device to have stronger walking endurance and bouncing capability.
Meanwhile, the scheme has simple structure and low manufacturing cost.
Drawings
Fig. 1 is a schematic structural view of a specific embodiment of a walking device according to the present invention, which is a schematic perspective structural view of the walking device;
FIG. 2 is a schematic structural diagram of an embodiment of the traveling apparatus according to the present disclosure, wherein a second driving motor is associated with a traveling wheel driving mechanism and a specific power transmission link of a track assembly driving mechanism;
fig. 3 is a schematic structural diagram of a specific embodiment of a wheel train system according to the present embodiment, which reflects a partial structural diagram of a specific power transmission link control of the second driving motor associated with the traveling wheel driving and the track assembly driving.
The reference numbers in the drawings are respectively: 1. frame, 2, first driving motor, 3, swing arm, 4, first extensible member, 5, track assembly, 6, walking wheel, 7, second driving motor, 8, second extensible member, 9, articulated seat, 10, driving gear, 11, planet wheel, 12, sun gear, 13, first chuck, 14, locking piece, 15, second chuck, 16, planet carrier, 17, worm shaft, 18, first jack catch, 19, second jack catch, 20, mount pad, 21, the worm wheel.
Detailed Description
The present invention will be described in further detail with reference to the following examples, but the present invention is not limited to the following examples:
example 1:
as shown in fig. 1 to 3, the wheel-track leg composite driving system comprises a wheel type walking module and a crawler type walking module,
the wheel type walking module comprises a first driving motor 2, a swing arm 3 with one end connected to a rotor of the first driving motor 2 and a walking wheel 6 connected to the other end of the swing arm 3;
the travelling wheel 6 is positioned on the side surface of the axis of the first driving motor 2;
the crawler type walking module comprises a first telescopic piece 4 and a crawler assembly 5, wherein a crawler wheel at one end of the crawler assembly 5 is installed on the telescopic output end of the first telescopic piece 4, and a crawler wheel at the other end of the crawler assembly 5 is installed on the swing arm 3;
the supporting wheel surface of the walking wheel 6 is parallel to the supporting belt surface of the crawler belt on the crawler belt assembly 5.
Among the prior art, like the technical scheme that utility model patent application that application number is CN201922490199.1 provided, for making the robot have good topography adaptability, can be in steady operation under various complicated operating mode and the weather condition, provide a technical scheme that can switch into wheeled walking, crawler-type walking and leg walking. Similar to the above solution, as provided in the patent application No. CN201710310946.1, the solution can also realize the switching between the crawler walking and the wheel walking by changing the form of the leg swing assembly, so as to adapt to different terrains.
The technical scheme has the advantages that the structure is simpler, the utilization rate of parts is higher, and the form holding capacity of a driving system is stronger on the basis of integrating wheels, tracks and supporting leg type walking.
In the concrete scheme, through setting up to one end to the other end by actuating system, include first driving motor 2, swing arm 3, crawler belt assembly 5 and first extensible member 4 in proper order, crawler belt assembly 5 is as the intermediate junction spare of swing arm 3 and first extensible member 4 promptly. In particular use, the driving system is used as a supporting leg of the walking device and is connected with the frame 1 of the walking device to form a four-bar linkage mechanism, so that: the angle of the swing arm 3 and/or the first telescopic part 4 relative to the frame 1 is restrained by the first driving motor 2 or other auxiliary angle restraining parts; through the swing arm 3 rotation of 2 drive swing arms of first driving motor and first extensible member 4 take place initiative flexible, can make running gear have following form:
the first form: in the swinging process of the swing arm 3 and the process of the expansion of the first expansion piece 4, the two ends of the track assembly 5 swing relative to the swing arm 3 and the first expansion piece 4 respectively, so that the wheel surface of the walking wheel 6 is positioned below the track supporting surface on the track assembly 5, and at the moment, the walking device can be in a wheel-type walking supporting state by driving the walking wheel 6 to rotate;
and a second state: in the swinging process of the swing arm 3 and the process of the expansion of the first expansion piece 4, the two ends of the track assembly 5 swing relative to the swing arm 3 and the first expansion piece 4 respectively, so that the wheel surface of the travelling wheel 6 is positioned above the track supporting surface on the track assembly 5, and the travelling device is in a track supporting and track travelling state by controlling the inclination angle of the track;
and a third state: in the swinging process of the swing arm 3 and the stretching process of the first telescopic piece 4, the two ends of the track assembly 5 swing relative to the swing arm 3 and the first telescopic piece 4 respectively, so that the wheel surface of the walking wheel 6 is positioned above the track supporting surface on the track assembly 5, and the walking device forms a support at the lower end of the first telescopic piece 4 through the control of the inclination angle of the track (the inclination angle of the track is greater than the support angle of the track under the two conditions), and is in a leg walking state.
Meanwhile, under the three states, the gravity center height of the walking device can be adjusted by controlling the inclination angle of the swing arm 3, so that the relation between the walking speed and the passing capacity of the walking device under the current terrain is balanced. Such as:
when the walking device walks on a flat and hard ground, the first driving motor 2 drives the swing arm 3 to rotate, so that the walking device has a lower gravity center, and a higher walking speed is obtained on the premise that the walking device can stably travel; when there is the barrier in the front, drive swing arm 3 through first driving motor 2 and rotate for frame 1 is supported by the high-order, and after obtaining barrier throughput, through reducing walking speed, guarantees running gear's stationarity.
In the second state, when the traveling device travels on a muddy and soft ground, the support form of the crawler on the ground can be adjusted by controlling the angle of the swing arm 3 and the elongation and angle of the first extensible member 4.
In the third state, when the walking device walks on the hollow ground, the supported height of the frame 1 can be adjusted by controlling the angle of the swing arm 3 and the elongation and angle of the first telescopic member 4.
Meanwhile, under the first state, the second state and the third state, the first driving motor 2 and/or the first telescopic part 4 can be used as a power source for adjusting the form of the specific driving system, the first state and the second state can be used for driving the walking power to be derived from the second driving motor 7 which can be in transmission connection with the crawler assembly 5 and the walking wheels 6, and the third state can be used for driving the walking power to be derived from the first telescopic part 4 and/or the first driving motor 2. Therefore, the form adjusting power and the walking power of the driving system can be sourced and diversified.
In the scheme, under any state and any supporting height, the shape keeping of the driving system which can be matched with the rack 1 to form the multi-link mechanism can be limited by the first telescopic part 4 and the swing arm 3, so that the driving system provided by the scheme is different from the prior art and has better shape keeping capacity;
in the scheme, under any state and any supporting height, the specific support of the driving system which can be matched with the rack 1 to form the multi-link mechanism can be limited by the first telescopic part 4 and the swing arm 3 at the same time, so that the driving system provided by the scheme is different from the prior art and has better supporting capacity of the rack 1;
in this scheme, under arbitrary state and arbitrary supporting height, the shape keeps and supports and keeps first extensible member 4 and swing arm 3 all can take place the effect, for adopt solitary cantilever bar to realize scheme such as leg walking as among the prior art, this scheme still has the high characteristics of part utilization ratio. The characteristics facilitate the walking device to have stronger walking endurance and bouncing capability.
Meanwhile, the scheme has simple structure and low manufacturing cost.
This embodiment is when specifically using, for simplifying the structure, be convenient for make and control, above first driving motor 2 adopts joint driving motor, first extensible member 4 adopts the cylinder. In order to realize light load of the walking device and high explosion during the output of the bouncing force, the gas power source of the first expansion piece 4 can be derived from a compressed gas cylinder and the gas exhaust in gasoline. Preferably, the track assembly 5 is designed such that the track assembly 5 has a better grip in state two, and is provided with a plurality of track wheels, which are a bogie wheel and a tow-wheel, and are greater than 2 in number on the track assembly 5, and the section of the track located below is constrained by the track wheels between the two ends of the track assembly 5 to have a downwardly convex inflection point. The above inflection points are used for changing the direction of the supporting surface of the belt section, so that the crawler belt is not limited to a form of opening the two ends of the swing arm 3 and the first telescopic piece 4 in the swing process of the swing arm 3 and the length change process of the first telescopic rod, and the purpose of obtaining larger ground contact area is achieved.
Example 2:
this example was further optimized and refined on the basis of example 1:
in order to simplify driving system structural design, realize track subassembly 5 and walking wheel 6 sharing same power supply for convenience, if adopt for direct current motor's second driving motor 7, realize wheeled walking, the distribution of crawler-type walking power flow through power distribution spare, set up to: the crawler wheel on the swing arm 3 is coaxial with the walking wheel 6.
Example 3:
this example was further optimized and refined on the basis of example 2:
as a specific driving scheme of the track assembly 5 and the road wheels 6, the driving scheme is as follows: the device also comprises a planetary speed reducer, a locking piece 14 and a second driving motor 7;
the planetary speed reducer comprises a driving gear 10, a planet carrier 16, a planet gear 11 arranged on the planet carrier 16 and a sun gear 12 arranged on the outer side of the planet carrier 16, wherein the inner side and the outer side of the planet gear 11 are respectively meshed with the driving gear 10 and the sun gear 12 in a tooth manner;
one of the crawler wheels and the travelling wheels 6 on the swing arm 3 is coaxially connected to the sun gear 12, and the other one is coaxially connected to the planet carrier 16;
a second chuck 15 is coaxially arranged on the sun gear 12, and a first chuck 13 is coaxially arranged on the planet carrier 16;
the locking piece 14 is used for realizing the rotation locking of the first chuck 13 and the rotation locking of the second chuck 15, and the locking state of the first chuck 13 and the second chuck 15 is adjustable. When the scheme is specifically applied, when the first chuck 13 is locked through the locking piece 14, the rotation of the planet carrier 16 is locked, the sun gear 12 is driven to rotate through the driving gear 10 and the planet gear 11, one of the two coaxially connected with the sun gear 12 rotates under the action of the second driving motor 7, if one coaxially connected with the sun gear 12 is the travelling wheel 6, the travelling wheel 6 rotates under the action of the second driving motor 7, and the wheel type travelling state of the travelling wheel 6 can be obtained under the state; if one of the wheels coaxially connected to the sun gear 12 is a track wheel, the track wheel serves as a driving wheel of the track assembly 5 and rotates under the action of the second driving motor 7, and a track type traveling state can be obtained in this state. By adopting the scheme, the driving system can have stronger climbing capability through the planetary reducer, and meanwhile, the power flow can be distributed as required under the conditions of simple structure and light weight.
Example 4:
this example was further optimized and refined on the basis of example 1:
for making this actuating system have running gear steering function when applying to running gear on, set up to: the device also comprises a hinge seat 9 fixedly connected to the first driving motor 2;
the articulated seat 9 is provided with a rotary joint, and the first driving motor 2 can rotate around the rotary joint in the following form: the axis of rotation of the first drive motor 2 is perpendicular to the axis of the first drive motor 2. In this scheme, articulated seat 9 can adopt the articulated seat 9 of ball also can adopt the articulated seat 9 of axle including the articulated shaft. In the concrete scheme, articulated seat 9 is as the intermediate junction spare of first driving motor 2 and frame 1 be connected with it, promotes this first driving motor 2 through thrust and rotates around articulated seat 9, can make walking wheel 6 take place in step with first driving motor 2's rotation, reaches walking wheel 6 and turns to the drive purpose. With this scheme matching, to the first extensible member 4 that links to each other through track subassembly 5 and rotatable walking wheel 6, can adopt first extensible member 4 to rotate the joint through the ball and link to each other with frame 1, also can adopt first extensible member 4 itself to match the 3 deflections of swing arm under articulated seat 9 effects for rotatable cylinder's mode. In this embodiment, when the first driving motor is installed with its axis horizontal, the hinge base 9 is in a ball hinge type or a shaft hinge type, and when the first driving motor is in the shaft hinge type, the axis of the hinge shaft is located in a vertical direction.
As described above, in both the state one and the state two drive forms proposed above, the first drive motor 2 can be used to rotate about the articulated seat 9 to realize the steering control of the running gear, while in the state three drive form, the advance adjustment of the travel direction before take-off is preferably performed in the state one or the state two.
Example 5:
this example was further optimized and refined on the basis of example 4:
in order to control the magnitude of the steering force required by the left and right steering of the walking device conveniently, the steering device is set as follows: the second telescopic piece 8 is used for driving the first driving motor 2 to rotate around the rotating joint;
the rotary joint is located in the middle of the first driving motor 2 in the length direction, the number of the second telescopic pieces 8 is two, and the two second telescopic pieces 8 are symmetrically hinged to the shell of the first driving motor 2 left and right relative to the rotary joint. As a person skilled in the art, when the second telescopic member 8 is applied to a walking device, the corresponding connection purpose can be achieved by adopting a ball hinge and a shaft hinge. When the concrete steering is implemented, for example, the left steering or the right steering of the walking device is realized through the second telescopic piece 8 on the left side, and correspondingly, the right steering or the left steering of the walking device is realized through the second telescopic piece 8 on the right side. Different from the adoption of a second telescopic piece 8, the problem of difference of steering moment arms can be effectively avoided.
In this embodiment, the second expansion piece 8 is a cylinder. Be different from first extensible member 4, consider the stroke needs of different positions cylinder, set up to second extensible member 8 for the piston rod is continuous body of rod, the piston rod of first extensible member 4 is multistage modular structure to in the certain circumstances of size of accomodating, but obtain longer extension state one the bigger frame of match range and support the height adjustment demand.
Example 6:
this example was further optimized and refined on the basis of example 1:
in order to obtain a stable supporting form of the walking device, in the first state and the third state, the walking device is generally adopted as a four-point support, such as four-wheel support and four-leg support widely adopted in the prior art, the technical scheme of adopting three-wheel support is also included in the prior art, but the rear side of the walking device under a general condition comprises two supporting wheels, and the walking device is arranged in a way that a single driving system can be applied to the front side or rear side single-side support of the walking device: the both ends of first driving motor 2 all are connected with swing arm 3, and two swing arms 3 are parallel to each other, all are connected with walking wheel 6 on the other end of each swing arm 3, and each swing arm 3 all is connected with solitary first extensible member 4 through solitary track subassembly 5. When the scheme is used specifically, the swing arms 3 are preferably set to be equal in length, the walking wheels 6 are installed at the bottom ends of the swing arms 3, and the purpose of adapting to most of flat pavements is achieved through synchronous swinging of the two sides of the first driving motor 2 under the action of the first driving motor 2. When the walking device needs to be applied to a slope surface, the left side and the right side of the walking device are respectively supported at different positions of the slope surface in the inclination direction, and the swinging arm 3 with unequal lengths can also be adopted when the advancing direction is along the width direction of the slope surface.
With above swing arm 3 unequal length design match, the model and the size of first extensible member 4 need not set up to the same in this scheme either, if through the frame 1 on for the concrete mounted position that first extensible member 4 provided match the concrete support needs of frame 1.
Example 7:
on the basis of the technical scheme provided by any of the above embodiments, the embodiment provides a wheel-track leg composite walking device, which comprises a frame 1 and a driving system as described above;
the driving system is connected to the frame 1 through a first driving motor 2;
the first telescopic part 4 is rotatably connected to the frame 1, and the rotatable rotating shaft is parallel to the axis of the first driving motor 2;
when the first telescopic part 4 is telescopic, the position of the upper crawler wheel relative to the travelling wheel 6 on the driving system can be switched between the following two positions:
a first position: the crawler wheel on the first telescopic part 4 is positioned at the lower side of the walking wheel 6;
and position two: the crawler wheels on the first telescopic part 4 are positioned on the upper side of the walking wheels 6.
As described above, the traveling device provided by the present solution is based on the specific application of the driving system, and the single traveling wheel 6, the track assembly 5 and the first telescopic member 4 form a pivot or a leg of the traveling device; the crawler type walking and the leg type walking of the walking device can be realized at the above positions, and the above position II is used for providing a wheel type walking scheme of the walking device.
As described above, the form adjustment power and the walking power source of the walking device can be multi-source and various;
under any state and any supporting height, the shape keeping of a driving system of the multi-link mechanism formed by the matching machine frame 1 can be limited by the first telescopic part 4 and the swing arm 3, and the walking device provided by the scheme has better shape keeping capacity;
under any state and any supporting height, the specific support of the driving system of the multi-link mechanism formed by matching the frame 1 can be limited by the first telescopic part 4 and the swing arm 3 at the same time, and the walking device provided by the scheme has better supporting capability of the frame 1;
in this scheme, under arbitrary state and arbitrary supporting height, the shape keeps and supports and keeps first extensible member 4 and swing arm 3 all can take place the effect, for adopt solitary cantilever bar to realize scheme such as leg walking as among the prior art, this scheme still has the high characteristics of part utilization ratio. The characteristics facilitate the walking device to have stronger walking endurance and bouncing capability.
Meanwhile, the scheme has simple structure and low manufacturing cost.
Example 8:
this example was further optimized and refined on the basis of example 7:
as proposed above, in the specific driving system scheme, the structural design of the driving system satisfies the structural foundation required by different postures of the running gear train running, the crawler running and the leg running, and simultaneously provides the structural foundation for realizing the turning of the running gear by the rotation of the first driving motor 2, so that the realization of the running gear does not depend on other forms of legs any more, and as a specific application, the driving system is set as follows: the walking device comprises a plurality of supporting legs for supporting the machine frame 1, and the supporting legs are the driving systems.
Example 9:
this example was further optimized and refined on the basis of example 8:
for make running gear form that each landing leg that multiple spot supported all have 3 inclinations of swing arm and can adjust alone, but first extensible member 4 length individual adjustment ability to realize forming the horizontal support to frame 1 on the inclined pavement, set up to: each leg is a separate drive system.
Example 10:
this example was further optimized and refined on the basis of example 8:
as described above, in order to allow one drive system to satisfy the two-point support of the front side or the rear side of the frame 1, in parallel with the above embodiment 9, under the concept of the embodiment 8, the following is provided: the driving systems are all as follows: both ends of the first driving motor 2 are connected with swing arms 3, the two swing arms 3 are parallel to each other, the other end of each swing arm 3 is connected with a walking wheel 6, and each swing arm 3 is connected with an independent first telescopic part 4 through an independent crawler belt component 5;
the support legs comprise front support legs arranged on the front side of the frame 1 and rear support legs arranged on the rear side of the frame 1;
the first driving motor 2 of the front supporting leg is also fixedly connected with a hinge seat 9;
the articulated seat 9 is provided with a rotary joint, and the first driving motor 2 of the front supporting leg can rotate around the rotary joint in the following form: the rotation axis of the first driving motor 2 is vertical to the axis of the first driving motor 2;
the front support leg is also provided with a second telescopic piece 8 which is used for driving the first driving motor 2 of the front support leg to rotate around the rotating joint;
the rotary joint is located in the middle of the length direction of the first driving motor 2 of the front supporting leg, the number of the second telescopic pieces 8 is two, and the two second telescopic pieces 8 are symmetrically hinged to the shell of the first driving motor 2 on the left and right relative to the rotary joint. The scheme provides a concrete scheme of convenient steering control and supporting height control on the basis of simple structure and convenient adjustment.
The foregoing is a more detailed description of the present invention in connection with specific preferred embodiments thereof, and it is not intended that the specific embodiments of the present invention be limited to these descriptions. For those skilled in the art to which the invention pertains, other embodiments that do not depart from the gist of the invention are intended to be within the scope of the invention.
Claims (8)
1. The wheel-track leg composite driving system comprises a wheel type walking module and a track type walking module, and is characterized in that,
the wheel type walking module comprises a first driving motor (2), a swing arm (3) with one end connected to a rotor of the first driving motor (2), and a walking wheel (6) connected to the other end of the swing arm (3);
the travelling wheel (6) is positioned on the side surface of the axis of the first driving motor (2);
the crawler type walking module comprises a first telescopic piece (4) and a crawler assembly (5), wherein a crawler wheel at one end of the crawler assembly (5) is installed on the telescopic output end of the first telescopic piece (4), and a crawler wheel at the other end of the crawler assembly (5) is installed on the swing arm (3);
the supporting wheel surface of the travelling wheel (6) is parallel to the supporting belt surface of the crawler on the crawler assembly (5);
the device also comprises a hinged seat (9) fixedly connected to the first driving motor (2);
the articulated seat (9) is provided with a rotary joint, and the first driving motor (2) can rotate around the rotary joint in the following mode: the rotating axis of the first driving motor (2) is vertical to the axis of the first driving motor (2);
the second telescopic piece (8) is used for driving the first driving motor (2) to rotate around the rotating joint;
the rotary joint is located in the middle of the length direction of the first driving motor (2), the number of the second telescopic pieces (8) is two, and the two second telescopic pieces (8) are symmetrically hinged to the shell of the first driving motor (2) on the left and right relative to the rotary joint.
2. The wheel-track leg composite drive system as claimed in claim 1, wherein the track wheels on the swing arm (3) are coaxial with the road wheels (6).
3. The wheel-track leg compound drive system as claimed in claim 2, further comprising a planetary reducer, a locking member (14), a second drive motor (7);
the planetary speed reducer comprises a driving gear (10), a planet carrier (16), a planetary gear (11) arranged on the planet carrier (16) and a sun gear (12) arranged on the outer side of the planet carrier (16), wherein the inner side and the outer side of the planetary gear (11) are respectively meshed with the driving gear (10) and the sun gear (12) in a tooth manner;
one of the crawler wheel and the walking wheel (6) on the swing arm (3) is coaxially connected to the sun gear (12), and the other one is coaxially connected to the planet carrier (16);
a second chuck (15) is coaxially arranged on the sun wheel (12), and a first chuck (13) is coaxially arranged on the planet carrier (16);
the locking piece (14) is used for realizing the rotation locking of the first chuck (13) and the rotation locking of the second chuck (15), and the locking state of the first chuck (13) and the second chuck (15) is adjustable.
4. The wheel-track leg composite driving system as claimed in claim 1, wherein both ends of the first driving motor (2) are connected with swing arms (3), the two swing arms (3) are parallel to each other, the other end of each swing arm (3) is connected with a road wheel (6), and each swing arm (3) is connected with an independent first telescopic part (4) through an independent track assembly (5).
5. Wheel-track leg compound walking device, comprising a frame (1), characterized in that it further comprises a drive system according to any one of claims 1 to 4;
the driving system is connected to the rack (1) through a first driving motor (2);
the first telescopic piece (4) is rotatably connected to the rack (1);
when the first telescopic part (4) is telescopic, the position of the upper crawler wheel relative to the travelling wheel (6) on the driving system can be switched between the following two positions:
a first position: the crawler wheel on the first telescopic piece (4) is positioned at the lower side of the walking wheel (6);
and position two: the crawler wheel on the first telescopic piece (4) is positioned on the upper side of the walking wheel (6).
6. Composite wheel-track leg walking device according to claim 5, characterized in that it comprises a plurality of legs for supporting the frame (1), the legs at the front side of the frame (1) being the drive system.
7. The walking device of claim 6, wherein each leg is a separate drive system.
8. The walking device of claim 6, wherein the drive systems are each: both ends of the first driving motor (2) are connected with swing arms (3), the two swing arms (3) are parallel to each other, the other end of each swing arm (3) is connected with a walking wheel (6), and each swing arm (3) is connected with an independent first telescopic piece (4) through an independent crawler assembly (5);
the support legs comprise front support legs arranged on the front side of the rack (1) and rear support legs arranged on the rear side of the rack (1);
the first driving motor (2) of the front supporting leg is also fixedly connected with a hinged seat (9);
the articulated seat (9) is provided with a rotary joint, and the first driving motor (2) of the front supporting leg can rotate around the rotary joint in the following form: the rotating axis of the first driving motor (2) is vertical to the axis of the first driving motor (2);
the first driving motor (2) used for driving the front supporting leg rotates around the rotating joint, and the second telescopic piece (8) is arranged on the front supporting leg;
the rotary joint is located in the middle of the length direction of the first driving motor (2) of the front supporting leg, the number of the second telescopic pieces (8) is two, and the two second telescopic pieces (8) are symmetrically hinged to the shell of the first driving motor (2) left and right relative to the rotary joint.
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