CN105292300A - Wheel type travelling mechanism - Google Patents

Abstract

The invention relates to a walking mechanism, in particular to a wheeled walking mechanism with strong adaptability to complex terrain; it includes a chassis, a motor, a motion distributor, a reducer and 4 walking modules with the same functional structure; the motor is arranged on On the chassis, it is connected with the motion distributor to provide driving force. The 4 travel modules are symmetrically arranged on both sides of the chassis, and the motion distributor is connected to 2 of the symmetrically arranged travel modules through the reducer; The modules are connected through the rocker arm structure; each travel module adopts a planetary gear train to realize the underactuated wheel structure; the unilateral suspension has two auxiliary rocker arms and one main rocker arm. This combination of the main and auxiliary rocker arms ensures that the vehicle When the body encounters an obstacle impact, the pitching degree is reduced to ensure that all 8 wheels of the mobile robot can touch the ground during the travel process, the movement is more stable, and the ability of the suspension to passively adapt to soft and complex terrain can be improved, which can improve its stability and obstacle surmounting ability .

Description

A wheeled walking mechanism

technical field

The invention relates to a walking mechanism, in particular to a wheeled walking mechanism with strong adaptability to complex terrain.

Background technique

A large-scale unexploded ordnance destruction robot platform is a general-purpose robot platform that can be applied to military conventional weapon test bases, test ranges, and public security fields. Due to the need to adapt to various complex environments such as Gobi Desert, gravel, hills, grasslands, and hillsides, Terrain, and has all-round movement and strong ability to overcome obstacles, climb slopes and cross ditches, so it puts forward high requirements on the adaptability of the walking mechanism.

In the design of the conventional walking mechanism, the motion is required to be definite, and the mechanism has certain motion conditions: the number of degrees of freedom of the mechanism (expressed in F) is equal to the number of prime movers given by the mechanism (expressed in S), and the freedom of the mechanism in the working state The degree should be equal to the number of moving parts, that is, F=S. When the number of degrees of freedom of the mechanism is greater than the number of prime movers, that is, F>S, the movement of the mechanism is uncertain. This kind of mechanism is called an uncertain mechanism, also known as an underactuated mechanism. Although the motion state of the underactuated mechanism is uncertain, it satisfies the minimum damping theorem, that is, the movement of the mechanism is dominated by the minimum damping, and it can avoid the direction of the greatest resistance and move toward the direction of the minimum damping. Therefore, the underactuated traveling mechanism has shape adaptability , the robot platform using the underactuated walking mechanism has the adaptability of the ground environment, simplifies the system drive control system and structure, and can adapt to the complex ground environment at the same time.

Contents of the invention

In view of the above prior art, the purpose of the present invention is to provide a wheeled traveling mechanism with strong adaptability to complex terrain. In order to achieve the above purpose, the present invention adopts the following technical solutions.

A wheeled walking mechanism, including a chassis, a motor, a motion distributor, a reducer and 4 walking modules with the same functional structure; the motor is set on the chassis, connected with the movement distributor to provide driving force, and the 4 walking modules are arranged symmetrically On both sides of the chassis, the motion distributor is connected to two symmetrically arranged walking modules through a reducer; the two walking modules on the same side of the chassis are connected through a rocker structure.

The walking module includes: wheels, wheel axles, chains, sprockets, auxiliary rocker arms, first auxiliary rocker arm shafts and auxiliary rocker arm bases; the wheels are installed on the wheel axles, and the wheel axles are connected to the drive shaft of the reducer. The two wheels are driven by the sprocket mounted on the wheel axle and the chain matched with the sprocket; the auxiliary rocker arm is installed on the two wheel axles and connected to the two wheels, and the walking module is fixed by the auxiliary rocker arm and the auxiliary rocker arm shaft On the sub-rocker base, the sub-rocker base is fixed to the chassis.

The two travel modules located on the same side of the chassis are driven by chains.

The radii of the two wheels of the walking module are equal, and the center distance between the two wheels is greater than the diameter of the wheel and less than twice the diameter of the wheel.

The rocker arm structure includes: a main rocker arm, an auxiliary rocker arm, a main rocker arm shaft, a first auxiliary rocker arm shaft and a second auxiliary rocker arm shaft; the main rocker arm is connected to the auxiliary rocker arm, and a main The shaft of the rocker arm, the shaft of the main rocker arm, the shaft of the first auxiliary rocker arm and the shaft of the second auxiliary rocker arm are on the same horizontal line, the axis of the shaft of the main rocker arm is to the axis of the shaft of the first auxiliary rocker arm and the shaft of the second auxiliary rocker arm The distance between the hearts is equal.

The motion distributor is realized by a friction plate clutch and bevel gears on both sides. One side of the friction plate clutch transmits the movement of the power shaft through splines, and the other side is connected with the bevel gear and is vacantly sleeved on the transmission shaft.

The motor provides the driving force, and the motor drives the walking module connected with the reducer through the motion distributor, and the two walking modules located on the same side of the chassis are then driven by a chain.

When the wheeled walking mechanism encounters a vertical or slope-type obstacle, the wheel close to the obstacle can rotate around the main rocker shaft under the driving force of the three wheels on the same side, so as to lift the wheel close to the obstacle. It can move along the surface of the obstacle, cross the obstacle, and the wheels at the back will cross the obstacle in turn, so that the whole wheeled walking mechanism can cross the obstacle.

The beneficial effects brought by the technical solution provided by the embodiments of the present invention are:

The eight-wheel underactuated traveling mechanism adopted in the present invention, the one-side suspension consists of three rods, two auxiliary rocker arms, and one main rocker arm. The combination of the main and auxiliary rocker arms ensures that the car body will When the obstacle hits, the pitch is reduced to ensure that all 8 wheels of the mobile robot can touch the ground during the travel process, and the movement is more stable. Improving the ability of the suspension to passively adapt to soft and complex terrain can improve its stability and obstacle-surmounting ability.

Description of drawings

Fig. 1 is a schematic structural view of a wheeled walking mechanism of the present invention;

Fig. 2 is an enlarged schematic diagram of a walking module of a wheeled traveling mechanism of the present invention;

Fig. 3 is a schematic diagram 1 of a wheeled traveling mechanism walking mechanism obstacle surmounting of the present invention;

Fig. 4 is a schematic diagram 2 of a wheeled walking mechanism walking mechanism obstacle surmounting according to the present invention;

Fig. 5 is a schematic diagram 3 of a wheeled walking mechanism walking mechanism obstacle surmounting according to the present invention;

Fig. 6 is a schematic diagram 4 of a wheeled walking mechanism walking mechanism obstacle surmounting according to the present invention;

Fig. 7 is a three-dimensional schematic diagram of a walking mechanism of a wheeled traveling mechanism of the present invention.

In the figure: 1-chassis, 2-main rocker arm, 3-motor, 4-motion distributor, 5-wheel axle, 6-chain, 7-secondary rocker arm, 8-sprocket, 9-reducer, 10- Wheels, 11-secondary rocker arm shaft, 12-main rocker arm shaft, 13-second auxiliary rocker arm shaft, 14-walking module, 15-secondary rocker arm base.

detailed description

A wheeled traveling mechanism of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1, a kind of wheeled traveling mechanism of the present invention comprises chassis 1, motor 3, motion distributor 4, speed reducer 9 and 4 identical walking modules 14 of functional structure; Motor 3 is arranged on chassis 1, and The motion distributor 4 is connected to provide driving force. The motion distributor 4 is realized by a friction plate clutch and bevel gear transmission on both sides. One side of the friction plate clutch transmits the movement of the power shaft through a spline, and the other side is connected with the bevel gear and is empty. On the transmission shaft; four walking modules 14 are arranged symmetrically on both sides of the chassis 1, the motion distributor 4 is connected to two symmetrically arranged walking modules 14 through the reducer 9, and the two walking modules 14 on the same side of the chassis 1 pass through The rocker structure is connected.

Each walking module 14 comprises: wheel 10, wheel axle 5, chain 6, sprocket wheel 8, auxiliary rocker arm 7, auxiliary rocker arm rotating shaft 11 and auxiliary rocker arm base 15; Wheel 10 is installed on the wheel axle 5, and wheel axle 5 Connected with the reducer 9, the two wheels 10 of each walking module are driven by the sprocket 8 installed on the wheel axle 5 and the chain 6 matched with it; the auxiliary rocker arm 7 is installed on the two wheel axles 5, connected to two The wheels 10 and 2 wheels 10 have equal radii, and the center distance between the two wheels 10 is greater than the diameter of the wheels 10 and less than twice the diameter of the wheels 10; the walking module 14 is fixed on the auxiliary rocker arm 7 and the auxiliary rocker arm shaft 11 On the base 15 , the auxiliary rocker arm base 15 is fixed on the chassis 1 . The two walking modules 14 located on the same side of the chassis 1 are driven by the chain 6

As shown in Figure 2, the rocker arm structure includes: the main rocker arm 2, the auxiliary rocker arm 7, the main rocker arm shaft 12, the first auxiliary rocker arm shaft 11 and the second auxiliary rocker arm shaft 13; There is a main rocker arm shaft 12, the main rocker arm shaft 12, the first auxiliary rocker arm shaft 11 and the second auxiliary rocker arm shaft 13 are on the same horizontal line, and the axis center of the main rocker arm shaft 12 reaches the first auxiliary rocker arm shaft 11 The distance from the axis center of the second secondary rocker arm shaft 13 is equal.

As shown in Figures 4 to 6, during work, the motor 3 drives the walking module 14 connected to the reducer 9 through the motion distributor 4, and the two walking modules 14 on the same side of the chassis 1 are then driven by the chain 6; when moving When the robot walks on a horizontal road, the hinged structure of the main rocker arm 2 and the auxiliary rocker arm 7 does not work, and the walking efficiency is the same as that of a common eight-wheeled robot; when there is a vertical or slope type obstacle ahead, the wheels close to the obstacle 10 can rotate around the main rocker arm shaft 12 under the driving force of the three wheels 10 in the back, so that the wheels 10 close to the obstacle can be lifted, so that it can move along the surface of the obstacle, cross the obstacle, and be located at the back The wheels 10 of the wheel surmount the obstacle successively, so that the whole running gear is surmounted the obstacle.

When the wheel 10 close to the obstacle is lifted, the main rocker arm shaft 12 also rises. In order to reduce the rising height of the vehicle body and keep the vehicle body as horizontal as possible, the auxiliary rocker arm shaft 11 is designed to make the vehicle body rise. The height is much smaller than the rising height of the wheel 10; according to the principle of similar triangles (neglecting the deformation of the tire), it can be seen that when the wheel crosses an obstacle with a height of H, the rising height of the auxiliary rocker arm rotating shaft 11 is about H/2, and the corresponding main rocker The arm shaft 12 rises to a height of about H/4, thereby effectively reducing the up and down movement of the vehicle body caused by the undulations of the road surface, and greatly reducing the torque and power required for overcoming obstacles.

Claims (8)

1. A wheeled walking mechanism, comprising a chassis (1), a motor (3), a motion distributor (4), a speed reducer (9) and 4 walking modules (14) with the same functional structure; the motor (3) is set On the chassis (1), it is connected with the motion distributor (4) to provide driving force. Four walking modules (14) are symmetrically arranged on both sides of the chassis (1), and the motion distributor (4) passes through the reducer (9) It is connected with two walking modules (14) arranged symmetrically; it is characterized in that: the two walking modules (14) on the same side of the chassis (1) are connected through a rocker structure. 2. The wheeled traveling mechanism according to claim 1, characterized in that: the walking module (14) comprises: wheels (10), wheel axles (5), chains (6), sprockets (8), auxiliary The rocker arm (7), the first secondary rocker arm shaft (11) and the secondary rocker arm base (15); the wheel (10) is installed on the wheel shaft (5), and the wheel shaft (5) and the drive shaft of the reducer (9) Connected, the 2 wheels (10) of the walking module (14) are driven by the sprocket (8) mounted on the wheel shaft (5) and the chain (6) matched with the sprocket (8); the auxiliary rocker arm (7) Installed on 2 wheel shafts (5), connected to 2 wheels (10), the walking module (14) is fixed on the auxiliary rocker arm base (15) through the auxiliary rocker arm (7) and the auxiliary rocker arm shaft (11), The auxiliary rocker arm base (15) is fixed on the chassis (1). 3. The wheeled traveling mechanism according to claim 2, characterized in that: the two traveling modules (14) located on the same side of the chassis (1) are driven by chains (6). 4. The wheeled running gear according to claim 2, characterized in that: the radii of the 2 wheels (10) of the walking module (14) are equal, and the center distance of the 2 wheels (10) is greater than that of the wheels (10). Diameter, less than twice the diameter of the wheel (10). 5. The wheeled traveling mechanism according to claim 1 or 2, characterized in that: the rocker arm structure includes: a main rocker arm (2), an auxiliary rocker arm (7), a main rocker arm shaft (12), a second One auxiliary rocker arm shaft (11) and the second auxiliary rocker arm shaft (13); the main rocker arm (2) is connected with the auxiliary rocker arm (7), and the main rocker arm shaft (12) is arranged in the middle of the main rocker arm (2) , the main rocker arm shaft (12), the first auxiliary rocker arm shaft (11) and the second auxiliary rocker arm shaft (13) are on the same horizontal line, and the axis of the main rocker arm shaft (12) is connected to the first auxiliary rocker arm shaft (11) is equal to the distance of the shaft center of the second auxiliary rocker arm rotating shaft (13). 6. The wheeled traveling mechanism according to claim 1 or 2, characterized in that: the motion distributor (4) is realized by a friction plate clutch and bevel gear transmission on both sides, and one side of the friction plate clutch transmits power through a spline The shaft moves, and the other side is connected with the bevel gear and is vacantly sleeved on the transmission shaft. 7. The wheeled traveling mechanism according to claim 2, characterized in that: the motor (3) provides driving force, and the motor (3) drives the walking motor connected to the reducer (9) through the motion distributor (4). Module (14), 2 walking modules (14) that are positioned at the same side of chassis (1) pass through chain (6) transmission again. 8. The wheeled traveling mechanism according to claim 5, characterized in that: when the wheeled traveling mechanism encounters a vertical or slope-type obstacle while walking, the wheels (10) close to the obstacle are on the same side as the three wheels (10). ) can rotate around the main rocker shaft (12) under the driving force, so that the wheel (10) close to the obstacle can be lifted, so that it can move along the surface of the obstacle, cross the obstacle, and the rear wheel (10) ) over obstacles in turn, so that the whole wheeled running gear over obstacles.