CN104057773A - Axial semi-wheel obstacle crossing wheel - Google Patents

Abstract

The invention discloses an axial half-wheel obstacle-crossing wheel, which comprises a half-wheel and a driving hole arranged on the half-wheel. The half-wheel is a fan-shaped structure, and a protruding block is arranged at the central corner of the fan-shaped structure. The driving hole is arranged on the protruding block and the half wheel, and is located on the central angle of the fan-shaped structure, and the radian of the fan-shaped structure is not less than π. When the present invention is applied, a plurality of axle-centered half-wheel type obstacle-crossing wheels are used in conjunction, which can take into account the stability of system power consumption and high-efficiency walking in regular terrain, strong obstacle-crossing ability in irregular terrain, and simple control , high efficiency, low energy consumption, wide application range, widely applicable to equipment working in special environments, such as robots, rescue devices, etc.

Description

A shaft half-wheel type obstacle-climbing wheel

technical field

The invention relates to an obstacle-crossing mechanism, in particular to a shaft center half-wheel type obstacle-crossing wheel.

Background technique

A general wheel is composed of a hub, spokes, and a rim. The hub is in the center of the wheel, and the hub is equipped with a wheel shaft. The rim is a ring-shaped body on the edge of the wheel. The spokes connect the hub and the rim. Usually the wheels can only go over obstacles smaller than the radius. In order to enable the wheel to cross obstacles with a larger radius, a multi-fork wheel has appeared. The spokes are a whole, and the outside forms a star-shaped trident. The mounting hole at the end installs the road wheel axle and the road wheel, but the obstacles that this multi-fork wheel can cross are limited by the size of the single fork-shaped spoke itself, and can only cross obstacles slightly larger than the length of the yoke.

In order to overcome the deficiency that the multi-fork wheel is limited by the size of the single fork-shaped spoke, which affects the obstacle-surmounting ability of the wheel. The Chinese patent whose publication number is CN2866289Y discloses a kind of obstacle-crossing wheel. The technical scheme is to adopt a star-shaped trident-shaped spoke, and the end of the fork arm and the center of the fork are provided with a shaft hole, and nine pairs of one-level overturn the spokes. , and install the traveling wheel shaft and the matching traveling wheel at the end of the fork arm respectively, the central shafts of the nine pairs of first-level overturning spokes are respectively installed at the ends of the fork arms of the three pairs of second-level overturning spokes, and the centers of the three pairs of second-level overturning spokes Axles are respectively mounted on the yoke ends of a pair of three-stage overturning spokes, and a three-stage overturning wheel axle is arranged at the center of the three-stage overturning spokes. The obstacle-crossing wheel can overcome obstacles that cannot be overcome by ordinary wheels, and the passing rate is improved; however, the obstacle-crossing wheel has a complicated structure and low operating efficiency.

The Chinese patent with the publication number CN203345078U discloses a height-adjustable crawler wheel for overcoming obstacles, including a triangular support, a hydraulic cylinder, a connecting rod, and a track; V-shaped brackets are installed at the corners, and driven wheels are installed at both ends of the V-shaped brackets; the bracket sides where the top angle and the front bottom angle of the triangular bracket are located are successively provided with a first hinge point and a second hinge point; the hydraulic cylinder The first end is hinged to the first hinge point, the second end of the hydraulic cylinder is hinged to the first end of the connecting rod, the middle part of the connecting rod is hinged to the second hinge point, and the obstacle-crossing wheel is installed on the second end of the connecting rod ; The technical solution is to adjust the height of the obstacle-crossing wheel through the hydraulic cylinder to provide the passing rate of the wheel. Its disadvantages are complex structure and high power consumption.

With the frequent occurrence of natural disasters, forest fires, nuclear accidents, earthquake rescue and other events and the growth of human exploration of unknown areas, human beings are eager to perceive these environments in order to collect information, alleviate disasters, and rescue the wounded. Therefore, need a kind of obstacle-jumping mechanism to help people to solve this problem. However, the above-mentioned obstacle-crossing wheels are difficult to meet the requirements for solving this problem. At present, the obstacle-climbing mechanisms used mainly include crawler-type, foot-type, hybrid structures, etc., and there are certain deficiencies in these obstacle-breaking mechanisms: the crawler-type obstacle-breaking mechanism is the most widely used to adapt to different environments, or It can be used alone or in conjunction with several sections, but it still cannot avoid the cost of heavy crawlers, high power consumption, and damage to the terrain; the footed obstacle-breaking mechanism can walk well on irregular terrain, but it pays for movement efficiency The price is too low and the control is more complicated; the hybrid obstacle-crossing mechanism comprehensively uses the advantages of various mechanisms to adapt to various terrains as much as possible, but the mechanical structure is complex, the control is difficult, and the efficiency is poor.

In order to solve the above problems, the Chinese patent with the publication number CN102275457B discloses a switchable multi-blade obstacle-crossing wheel, which includes a driving wheel and a follower wheel, and the driving wheel is fixed on the power shaft so that it rotates together with the power shaft. The driven wheel is sleeved on the power shaft through a bearing, and the driving wheel and the driven wheel are connected together through an automatic rebound device. The driving wheel and the driven wheel are multi-blade impellers with similar shapes, and the blades of the driving wheel and the driven wheel are installed crosswise. When the follower wheel is subjected to external force, the blades of the driving wheel and the follower wheel overlap. When the follower wheel is not subjected to external force, the follower wheel will automatically return to the initial installation position under the action of the automatic rebound device to form a circular shape. The drive wheel/follower wheel The driving wheel is provided with a groove, and correspondingly, the follower wheel/driving wheel is provided with a retaining rod. One end of the groove is opened, and the other end is closed. When the follower wheel rotates relative to the driving wheel, the retaining rod slides in the groove. The technical scheme has a simple and reliable structure, high efficiency, good ground adaptability, and strong obstacle-crossing ability. However, since the obstacle-crossing wheel relies on the friction force of the obstacle-crossing surface contact, its application range is limited.

For another example, the Chinese patent with the publication number CN202944147U discloses a multi-impeller obstacle-surmounting mechanism, which includes a fuselage frame and running wheels; the fuselage frame is a flat cuboid shape, and the running wheels are symmetrically installed on the left and right sides of the fuselage frame through the wheel shaft; The walking wheel is a multi-impeller, and the multi-impeller is formed by digging out a section of arc at equal arc length intervals around the entire circumference of a wheel. The multi-impeller is a group of six wheels, three on each side, two in two Symmetrical, after being installed in place, the blade arc segments of the two symmetrical multi-impellers just complement each other to form a complete circle, and the first and third wheels on either side of the fuselage frame are the same as the second wheel on the other side. The installation state, that is, after installation, the direction of the corresponding blades is the same. The obstacle-surmounting mechanism can easily cross obstacles slightly higher than the radius of the wheels, but its control is relatively complicated. Simultaneously, because the impeller adopts the fork structure, the obstacle surmounting ability is not ideal enough.

As another example, the Chinese patent with publication number CN102107685A discloses a hexapod robot with eccentric wheel legs, which uses an eccentric wheel structure as the form of legs. The robot using the eccentric structure of the walking mechanism makes it highly adaptable to the ground and has a strong ability to overcome obstacles. This kind of walking mechanism has a good obstacle-crossing effect in irregular terrain, but its movement efficiency in irregular terrain is low, and its operating efficiency is only about 1/3 of the wheeled robot; The medium energy consumption fluctuates greatly.

To sum up, the current obstacle-crossing mechanism is either complicated to control, or cannot take into account the movement efficiency of the regular terrain, and there are deficiencies such as low efficiency, high energy consumption, and complicated control, which seriously limit the application range of the equipment; Efficiency, functionality and capability of equipment operating in a particular environment.

Contents of the invention

In order to overcome the fact that the existing obstacle-crossing mechanism cannot take into account the stability of power consumption of the system on regular terrain, the high efficiency of walking and the ability to overcome obstacles under irregular terrain, the present invention provides an axial half-wheel type obstacle-crossing wheel.

The present invention is achieved through the following technical solutions.

An axial half-wheel obstacle-crossing wheel, comprising a half-wheel and a driving hole arranged on the half-wheel, the half-wheel is a fan-shaped structure, and a protruding block is arranged at the central corner of the fan-shaped structure, and the driving hole is set On the protruding block and the half wheel, and on the central angle of the fan-shaped structure.

The radian of the fan-shaped structure is not less than π.

The relationship between the radian W of the fan-shaped structure, the wheel radius r and the ideal obstacle clearance height L is:

The radian W of the fan-shaped structure ranges from π to 2π.

An anti-slip layer is provided on the radius of the fan-shaped structure.

The anti-skid layer is processed with anti-skid teeth or coated with a layer of anti-skid material on the radius of the fan-shaped structure.

The anti-slip material is silicon rubber, resin friction material or aluminum-based composite material.

The beneficial effects of the present invention are:

Compared with the prior art, the present invention adopts a plurality of axle-centered half-wheel obstacle-crossing wheels in combination, which can take into account the stability of power consumption of the system on regular terrain and the high efficiency of walking, and the stability of the system on irregular terrain. Strong obstacle surmounting ability, simple control, high efficiency, low energy consumption, wide application range, widely applicable to equipment working in special environments, such as robots, rescue devices, etc.

Description of drawings

FIG. 1 is a schematic structural view of Embodiment 1 of the present invention;

Fig. 2 is a schematic structural diagram of Embodiment 2 of the present invention.

In the figure: 1-half wheel foot, 2-protruding block, 3-drive hole, 4-anti-skid material, 5-anti-skid tooth.

Detailed ways

The technical solution of the present invention will be further described below in conjunction with the accompanying drawings, but the scope of protection is not limited to the description.

As shown in Fig. 1 and Fig. 2, an axial half-wheel type obstacle-climbing wheel according to the present invention includes a half-wheel 1 and a driving hole 3 arranged on the half-wheel 1, and the half-wheel 1 is a fan-shaped structure, A protruding block 2 is provided at the central corner of the fan-shaped structure, and the driving hole 3 is provided on the protruding block 2 and the half wheel foot 1, and is located on the central corner of the fan-shaped structure. When in use, the driving hole 3 is used to connect the power device, the shape of the driving hole 3 can be selected according to the output type of the power device, and the driving connection of the power device is facilitated by setting the protruding block 2 .

The radian of the fan-shaped structure is not less than π. The radian of the fan-shaped structure can be determined according to the height it needs to cross in the obstacle-surpassing environment. Let the radian of the fan-shaped structure be W, the ideal obstacle clearance height be L, and the radius r of the wheel. Wherein, the radian W of the fan-shaped structure takes a value between π and 2π, and the larger the value of W, the lower the surmountable height. The maximum ideal obstacle surmounting height is twice the radius of the wheel, that is, the maximum ideal obstacle surmounting height is 2r. The relationship between the radian W of the fan-shaped structure, the wheel radius r and the ideal obstacle clearance height L is:

In order to achieve a better obstacle-surmounting effect, an anti-slip layer is provided on the radius of the fan-shaped structure. As shown in Figure 1, the anti-skid layer is coated with a layer of anti-skid material 4 on the radius of the fan-shaped structure, and the anti-skid material 4 can be made of silicon rubber, resin friction material, or aluminum-based composite material with better friction. Material production.

As shown in FIG. 2 , the anti-skid layer is processed with anti-skid teeth 5 on the radius of the fan-shaped structure.

When the present invention is applied, first determine the shape of the half wheel 1, that is, determine the radian of the fan-shaped structure and the shape of the driving hole 3. After the radian of the fan-shaped structure and the shape of the driving hole 3 are determined, it is fixed on the power device. output on. A single axis-centered half-wheel type obstacle-breaking wheel cannot work, and multiple coordinated use is required. In this technical solution, an even number of axis-centered half-wheel-type obstacle-breaking wheels is preferred to be used in coordination, and they are installed symmetrically on the left and right sides of the equipment. Gait is enough to complete locomotion and obstacle surmounting.

Claims (7)

1. A shaft-centered half-wheel type obstacle-climbing wheel, comprising a half-wheel (1) and a drive hole (3) arranged on the half-wheel (1), characterized in that: the half-wheel (1) is a fan-shaped structure, A protruding block (2) is arranged at the central corner of the fan-shaped structure, and the driving hole (3) is arranged on the protruding block (2) and the half wheel (1), and is located on the central corner of the fan-shaped structure. 2. The axial half-wheel obstacle-crossing wheel according to claim 1, characterized in that: the arc of the fan-shaped structure is not less than π. 3. A shaft-centered half-wheel obstacle-crossing wheel according to claim 1 or 2, wherein the relationship between the radian W of the fan-shaped structure, the wheel radius r, and the ideal obstacle-crossing height L is: . 4 . The axle-centered half-wheel obstacle-crossing wheel according to claim 3 , wherein the arc W of the fan-shaped structure ranges from π to 2π. 5 . The axial half-wheel obstacle-climbing wheel according to claim 1 , wherein an anti-skid layer is provided on the radius of the fan-shaped structure. 6 . 6. A shaft-centered half-wheel obstacle-crossing wheel according to claim 5, characterized in that: the anti-slip layer is processed on the radius of the fan-shaped structure with anti-slip teeth (5) or coated with a layer of anti-slip material (4 ). 7. The axial half-wheel obstacle-crossing wheel according to claim 6, characterized in that: the anti-slip material (4) is silicone rubber, resin friction material or aluminum-based composite material.