CN105197119A - Star-shaped obstacle crossing wheel based on planet gear - Google Patents

Abstract

The purpose of the present invention is to provide a star-shaped obstacle-crossing wheel based on a planetary wheel. The DC servo motor is directly connected to the drive shaft through a coupling, directly drives the drive shaft, and transmits power to the shaft on which the drive wheel is installed through gear transmission. system, under the driving action of the driving wheels, the obstacle-climbing platform can move on the road. At the same time, the star-shaped obstacle-crossing wheel based on the planetary wheel has a certain turning ability under the driving action of the motor under the condition of no load. After being applied to the obstacle-crossing mobile platform, multiple such obstacle-crossing wheels are used together. When an obstacle is encountered, the obstacle-crossing wheel can be flipped under the driving of the obstacle-crossing wheel and the pushing or pulling force of the obstacle-crossing wheel to realize the obstacle-crossing function. The invention has a certain ability to pass through the road surface, and at the same time, the obstacle-crossing wheel also has the ability to rotate around the transmission shaft, which is helpful for the turning-over and obstacle-crossing function of the obstacle-crossing wheel.

Description

A Star-shaped Obstacle-Crossing Wheel Based on Planetary Wheels

technical field

The invention relates to a robot, in particular to an obstacle-surmounting mechanism of the robot.

Background technique

At present, there are two main types of research on mobile platforms such as obstacle-crossing robots and building search-and-rescue robots: crawler-type walking mechanisms, and building-climbing mechanisms using triangular wheels. The two mobile platforms adapting to complex terrain have their own characteristics. The crawler-type traveling mechanism has better road passing ability but poor flexibility. The climbing mechanism using triangular wheels is more convenient to use, but it cannot realize autonomous driving. The road passing ability and obstacle-crossing level of mobile platforms such as obstacle-climbing and stair-climbing determine their working environment to a certain extent, so the research on obstacle-crossing wheels has certain significance.

The Chinese patent (CN103770823A) discloses an autonomous obstacle-crossing wheel for stairs, which controls the opening of the DC frequency conversion motor through the control part to intelligently drive the driving wheels to rotate alternately in a timely manner, so that the entire staircase can assist the obstacle-crossing wheel to walk autonomously; In the event of an obstacle, the control unit controls the relay to extend the electromagnetic push rod until it touches the ground and continues to extend until the entire stair autonomous obstacle-crossing wheel is regularly turned counterclockwise to overcome obstacles. During work, the control process is complicated, which increases the complexity of the whole obstacle-crossing mechanism.

Contents of the invention

The object of the present invention is to provide a star-shaped obstacle-climbing wheel based on planetary wheels that can travel on the road and has the ability to turn over.

The purpose of the present invention is achieved like this:

A star-shaped obstacle-crossing wheel based on a planetary wheel in the present invention is characterized in that: it includes first-third obstacle-breaking units; the first obstacle-breaking unit includes first-second wheel train support frames, first-third pair The driving wheel, the first-sixth transmission gear, the inner wall of the first wheel train supporting frame and the inner wall of the second wheel train supporting frame are arranged face to face, between the inner wall of the first wheel train supporting frame and the second wheel train supporting frame by The first transmission shaft, the first bolt, the second transmission shaft, the second bolt, the third transmission shaft, and the fourth transmission shaft are installed in sequence from outside to inside, and the first transmission shaft, the first bolt, the second transmission shaft, the second The bolts, the third drive shaft and the fourth drive shaft are matched with the first wheel train supporting frame and the second wheel train supporting frame respectively through deep groove ball bearings, the first pair of drive wheels are installed on the first drive shaft, and the second pair of drive wheels The wheel is installed on the second transmission shaft, the third pair of driving wheels is installed on the fourth transmission shaft, the first transmission gear is installed on the first transmission shaft between the first pair of driving wheels, and the second transmission gear is installed on the first bolt , the third transmission gear is installed on the second transmission shaft between the second pair of driving wheels, the fourth transmission gear is installed on the second bolt, the fifth transmission gear is installed on the third transmission shaft, and the sixth transmission gear is installed on the On the fourth transmission shaft, the first-sixth transmission gears are meshed sequentially; the second obstacle-breaking unit and the third obstacle-breaking unit have the same structure as the first obstacle-breaking unit and share the fifth transmission gear, and the first-sixth The axes of the three obstacle units are separated by 120 degrees in pairs.

The present invention may also include:

1. The shaft section where the first transmission shaft cooperates with the first pair of driving wheels and the first transmission gear is a square shaft, and the shaft section where the second transmission shaft cooperates with the second pair of driving wheels and the third transmission gear is a square shaft.

2. The deep groove ball bearing with which the first bolt cooperates adopts clearance fit, and the deep groove ball bearing with which the second bolt cooperates adopts clearance fit.

3. The fourth transmission shaft is a hollow structure, and fixing bolts are installed through the fourth transmission shaft. The two ends of the fixing bolts are respectively located outside the outer wall of the first wheel train supporting frame and the outer wall of the second wheel train supporting frame. The fixing bolts pass through The limit fastening axle sleeve fixes the first wheel train supporting frame and the second wheel train supporting frame.

The advantages of the present invention are:

1. The present invention is a star-shaped obstacle-crossing wheel based on a planetary wheel. The obstacle-crossing wheel has a certain ability to pass through the road under the drive of a DC servo motor. At the same time, the obstacle-crossing wheel also has the ability to rotate around the transmission shaft, which is helpful The function of overturning the obstacle wheel;

2. In the present invention, the two sets of drive wheels that are not in contact with the ground will produce relative motion when they come into contact with obstacles, which is equivalent to the function of the drive wheels in contact with the ground. Obstacle-surmounting ability of the obstacle-crossing wheel.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the A-A view of Fig. 1;

Fig. 3 is a partial view of the driving wheel shafting a and the transmission shafting b of the obstacle-crossing wheel;

Fig. 4 is a partial view of the main drive shaft system e and transmission shaft system d of the obstacle-crossing wheel.

Detailed ways

The present invention is described in more detail below in conjunction with accompanying drawing example:

Combining Figures 1 to 4, a star-shaped obstacle-crossing wheel based on planetary gears (hereinafter referred to as "obstacle-crossing wheel"), Figure 1 is its front view, the plane where it is located is perpendicular to the horizontal plane, and is independently driven by a DC servo motor. The transmission shaft system finally transmits the power to the drive wheel shaft system a. The star-shaped obstacle-crossing wheel based on the planetary wheel has a certain turning ability under no load, and under the load condition, it can be turned over under the action of the thrust or pulling force of the obstacle-breaking wheel installed with it to realize the obstacle-breaking function.

The A-A view of the star-shaped obstacle-crossing wheel based on the planetary wheel of the present invention is shown in Figure 2, which is a unit module of the obstacle-crossing wheel, and the whole obstacle-crossing wheel has three such unit modules that are mutually formed at 120°, and its effect diagram is as follows Figure 1 shows. The unit module of the obstacle-crossing wheel is mainly composed of a wheel train support frame 4, a drive wheel shaft system a, a transmission shaft system b, a drive wheel shaft system c, a transmission shaft system f, a main drive shaft system e, and a drive wheel shaft system d.

Among them, the module composition of drive wheel shaft system a and drive wheel shaft system c is the same, but their functions are different. When the wheel is over the obstacle, the driving wheel 2 is constantly rotating, and relative motion can occur when contacting the obstacle, so as to prevent this obstacle overcoming wheel from being stuck in contact with the obstacle when the obstacle is overturned. The function of the drive wheel shaft system d is the same as that of the drive wheel shaft system c. When an obstacle is encountered, the drive wheel 3 will also move relative to the obstacle, but its composition is different. The transmission shaft b and the transmission shaft f have the same composition and function, but the installation positions of the transmission shaft b and the transmission shaft f on the obstacle-crossing wheel are different.

The present invention provides a star-shaped obstacle-crossing wheel based on a planetary wheel, which not only has the ability to walk on a flat road, but also has the ability to turn over obstacles in a complex environment.

As shown in Figure 3, the driving wheel shaft system a is mainly composed of a wheel train support frame 4, a transmission gear 5, a spacer 31, a spacer 32, a positioning sleeve 33, a deep groove ball bearing 11, and a transmission shaft 12 with a shaft shoulder. Wherein the transmission shaft 12 with shoulder shoulder and the matching shaft section of the transmission gear 5 and the driving wheel 1 are square shafts, which ensures that there is no relative movement between the transmission gear 5 and the driving wheel 1 . The shoulder on the transmission shaft 12 with the shoulder plays a role in positioning the transmission gear 5 and the driving wheel 1, and at the same time, the positioning sleeve 10 is used to position the driving wheel 1, so as to avoid the axial serial movement of the driving wheel 1 during the rotation process .

As shown in Figure 3, the driving wheel shaft system b is mainly composed of transmission gear 5, transmission gear 10, deep groove ball bearing 11, thrust bearing 13, positioning and fastening sleeve 14, bolt 15, limit sleeve 16, spring washer 17, Nut 18 forms. Among them, the transmission shaft acts on the bolt 15, which runs through the entire driving wheel shaft system b, and the bolt 15 is in clearance fit with the deep groove ball bearing 11, which ensures the free rotation of the shaft system. The transmission gear 5 is limited to ensure the position of the transmission gear 15 in the transmission shaft system. The positioning fastening bushing 14 is used to limit the position of the thrust bearing 13 on the one hand, and is used to cooperate with the bolt 15 to fix the wheel train support frame 4 to prevent the whole wheel train from being scattered.

As shown in FIG. 4 , the drive train e is mainly composed of a train support frame 4 , a transmission gear 6 , a limit support sleeve 19 , a drive shaft 20 with a shaft shoulder, and a deep groove ball bearing 21 . The transmission shaft 20 to be shouldered can axially locate the transmission gear 6, and the limit support sleeve 19 prevents the transmission gear 6 from axially moving in series, and at the same time provides a certain axial outward support force to prevent the gear train from supporting the frame 4. The distance between becomes smaller. Transmission gear 6 center is that square hole cooperates with the square shaft of the transmission shaft 20 of band shaft shoulder, drives transmission gear 6 to rotate simultaneously and transmits power when the transmission shaft 20 of band shaft shoulder rotates.

As shown in Figure 4, the driving wheel train d is mainly composed of a wheel train support frame 4, a transmission gear 7, a deep groove ball bearing 22, a bolt 23, a gasket 24, a limit fastening sleeve 25, a limit sleeve 26, a pad Sheet 27, hollow transmission shaft 28, spring washer 29, nut 30 are formed. The transmission gear 7 is axially positioned through the shaft shoulder on the hollow transmission shaft 28, and the driving wheel 3 is axially limited by the limit sleeve 26. The central hole of the hollow transmission shaft 28 is used to place the bolt 23, and the function of the bolt 23 is mainly It is to fix the wheel train support frame 4 to ensure that the relative positions of the wheel train support frame 4 on both sides are fixed in the formula.

This star-shaped obstacle-crossing wheel based on planetary gears is driven by a DC servo motor, and the rotational power is transmitted to the transmission gear 6 through the main drive shaft system e, as shown in Figure 2, viewed from the right side of the obstacle-crossing wheel For the obstacle-crossing wheel, assuming that the transmission gear 6 rotates clockwise, the transmission gear 6 will drive the transmission gear 8 and the transmission gear 7 meshing with it to rotate counterclockwise, and the transmission gear 7 will drive the drive wheel 3 on the same transmission shaft system d to reverse The hour hand rotates to improve the ability to overcome obstacles. When the transmission gear 8 rotates counterclockwise, the transmission gear 9 meshed with it rotates clockwise, and the transmission gear 9 drives the drive wheel 2 on the same drive shaft c as it to rotate clockwise, improving the ability to overcome obstacles. The transmission gear 10 meshed with the transmission gear 9 rotates counterclockwise, the transmission gear 5 meshes with the transmission gear 10, the transmission gear 5 rotates clockwise, drives the driving wheel 1 on the same driving shaft system a to rotate clockwise, and then drives the entire wheel system to move , so that the obstacle-crossing wheel has a better road passing ability on a smooth road. When an obstacle is encountered, the driving wheel 1 on the obstacle-crossing wheel is in contact with the obstacle, and under the driving action of the driving wheel 1 and the thrust or pulling force of the obstacle-crossing wheel installed in conjunction with it, the obstacle is turned over, and the shafting of the driving wheel The driving wheel 2 and driving wheel 3 on c and d rotate under the driving shaft, and when they contact with an obstacle, relative motion occurs to prevent the obstacle-crossing wheel from being stuck between the obstacle and finally realize the obstacle-crossing function.

The Chinese patent (CN103770823A) discloses an autonomous obstacle-crossing wheel for stairs, which controls the opening of the DC frequency conversion motor through the control part to intelligently drive the driving wheels to rotate alternately in a timely manner, so that the entire staircase can assist the obstacle-crossing wheel to walk autonomously; In the event of an obstacle, the control unit controls the relay to extend the electromagnetic push rod until it touches the ground and continues to extend until the entire stair autonomous obstacle-crossing wheel is regularly turned counterclockwise to overcome obstacles. During work, the control process is complicated, which increases the complexity of the whole obstacle-crossing mechanism.

The technical solution of the present invention is: independent driving is performed by a DC servo motor, and the power is finally transmitted to the drive wheel shaft system a through the gear transmission shaft system. The star-shaped obstacle-crossing wheel based on the planetary wheel has a certain turning ability under no load, and under the load condition, it can be turned over under the action of the thrust or pulling force of the obstacle-breaking wheel installed with it to realize the obstacle-breaking function.

The A-A view of the star-shaped obstacle-crossing wheel based on the planetary wheel of the present invention is shown in Figure 2, which is a unit module of the obstacle-crossing wheel, and the whole obstacle-crossing wheel has three such unit modules that are mutually formed at 120°, and its effect diagram is as follows Figure 1 shows. The unit module of the obstacle-crossing wheel is mainly composed of a wheel train support frame 4, a drive wheel shaft system a, a transmission shaft system b, a drive wheel shaft system c, a transmission shaft system f, a main drive shaft system e, and a drive wheel shaft system d.

Among them, the module composition of drive wheel shaft system a and drive wheel shaft system c is the same, but their functions are different. When the wheel is over the obstacle, the driving wheel 2 is constantly rotating, and relative motion can occur when contacting the obstacle, so as to prevent this obstacle overcoming wheel from being stuck in contact with the obstacle when the obstacle is overturned. The function of the drive wheel shaft system d is the same as that of the drive wheel shaft system c. When an obstacle is encountered, the drive wheel 3 will also move relative to the obstacle, but its composition is different. The transmission shaft b and the transmission shaft f have the same composition and function, but the installation positions of the transmission shaft b and the transmission shaft f on the obstacle-crossing wheel are different.

The present invention provides a star-shaped obstacle-crossing wheel based on a planetary wheel, which not only has the ability to walk on a flat road, but also has the ability to turn over obstacles in a complex environment.

As shown in Figure 3, the driving wheel shaft system a is mainly composed of a wheel train support frame 4, a transmission gear 5, a spacer 31, a spacer 32, a positioning sleeve 33, a deep groove ball bearing 11, and a transmission shaft 12 with a shaft shoulder. Wherein the transmission shaft 12 with shoulder shoulder and the matching shaft section of the transmission gear 5 and the driving wheel 1 are square shafts, which ensures that there is no relative movement between the transmission gear 5 and the driving wheel 1 . The shoulder on the transmission shaft 12 with the shoulder plays a role in positioning the transmission gear 5 and the driving wheel 1, and at the same time, the positioning sleeve 10 is used to position the driving wheel 1, so as to avoid the axial serial movement of the driving wheel 1 during the rotation process .

As shown in Figure 3, the driving wheel shaft system b is mainly composed of transmission gear 5, transmission gear 10, deep groove ball bearing 11, thrust bearing 13, positioning and fastening sleeve 14, bolt 15, limit sleeve 16, spring washer 17, Nut 18 forms. Among them, the transmission shaft acts on the bolt 15, which runs through the entire driving wheel shaft system b, and the bolt 15 is in clearance fit with the deep groove ball bearing 11, which ensures the free rotation of the shaft system. The transmission gear 5 is limited to ensure the position of the transmission gear 15 in the transmission shaft system. The positioning fastening bushing 14 is used to limit the position of the thrust bearing 13 on the one hand, and is used to cooperate with the bolt 15 to fix the wheel train support frame 4 to prevent the whole wheel train from being scattered.

As shown in FIG. 4 , the drive train e is mainly composed of a train support frame 4 , a transmission gear 6 , a limit support sleeve 19 , a drive shaft 20 with a shaft shoulder, and a deep groove ball bearing 21 . The transmission shaft 20 to be shouldered can axially locate the transmission gear 6, and the limit support sleeve 19 prevents the transmission gear 6 from axially moving in series, and at the same time provides a certain axial outward support force to prevent the gear train from supporting the frame 4. The distance between becomes smaller. Transmission gear 6 center is that square hole cooperates with the square shaft of the transmission shaft 20 of band shaft shoulder, drives transmission gear 6 to rotate simultaneously and transmits power when the transmission shaft 20 of band shaft shoulder rotates.

As shown in Figure 4, the driving wheel train d is mainly composed of a wheel train support frame 4, a transmission gear 7, a deep groove ball bearing 22, a bolt 23, a gasket 24, a limit fastening sleeve 25, a limit sleeve 26, a pad Sheet 27, hollow transmission shaft 28, spring washer 29, nut 30 are formed. The transmission gear 7 is axially positioned through the shaft shoulder on the hollow transmission shaft 28, and the driving wheel 3 is axially limited by the limit sleeve 26. The central hole of the hollow transmission shaft 28 is used to place the bolt 23, and the function of the bolt 23 is mainly It is to fix the wheel train support frame 4 to ensure that the relative positions of the wheel train support frame 4 on both sides are fixed in the formula.

This star-shaped obstacle-crossing wheel based on planetary gears is driven by a DC servo motor, and the rotational power is transmitted to the transmission gear 6 through the main drive shaft system e, as shown in Figure 2, viewed from the right side of the obstacle-crossing wheel For the obstacle-crossing wheel, assuming that the transmission gear 6 rotates clockwise, the transmission gear 6 will drive the transmission gear 8 and the transmission gear 7 meshing with it to rotate counterclockwise, and the transmission gear 7 will drive the drive wheel 3 on the same transmission shaft system d to reverse The hour hand rotates to improve the ability to overcome obstacles. When the transmission gear 8 rotates counterclockwise, the transmission gear 9 meshed with it rotates clockwise, and the transmission gear 9 drives the drive wheel 2 on the same drive shaft c as it to rotate clockwise, improving the ability to overcome obstacles. The transmission gear 10 meshed with the transmission gear 9 rotates counterclockwise, the transmission gear 5 meshes with the transmission gear 10, the transmission gear 5 rotates clockwise, drives the driving wheel 1 on the same driving shaft system a to rotate clockwise, and then drives the entire wheel system to move , so that the obstacle-crossing wheel has a better road passing ability on a smooth road. When an obstacle is encountered, the driving wheel 1 on the obstacle-crossing wheel is in contact with the obstacle, and under the driving action of the driving wheel 1 and the thrust or pulling force of the obstacle-crossing wheel installed in conjunction with it, the obstacle is turned over, and the shafting of the driving wheel The driving wheel 2 and driving wheel 3 on c and d rotate under the driving shaft, and when they contact with an obstacle, relative motion occurs to prevent the obstacle-crossing wheel from being stuck between the obstacle and finally realize the obstacle-crossing function.

Claims (5)

1. A star-shaped obstacle-crossing wheel based on a planetary wheel, characterized in that: it includes a first-third obstacle-crossing unit; the first obstacle-crossing unit includes a first-second wheel train support frame, a first-third pair of The driving wheel, the first-sixth transmission gear, the inner wall of the first wheel train supporting frame and the inner wall of the second wheel train supporting frame are arranged face to face, between the inner wall of the first wheel train supporting frame and the second wheel train supporting frame by The first transmission shaft, the first bolt, the second transmission shaft, the second bolt, the third transmission shaft, and the fourth transmission shaft are installed in sequence from outside to inside, and the first transmission shaft, the first bolt, the second transmission shaft, the second The bolts, the third drive shaft and the fourth drive shaft are matched with the first wheel train supporting frame and the second wheel train supporting frame respectively through deep groove ball bearings, the first pair of drive wheels are installed on the first drive shaft, and the second pair of drive wheels The wheel is installed on the second transmission shaft, the third pair of driving wheels is installed on the fourth transmission shaft, the first transmission gear is installed on the first transmission shaft between the first pair of driving wheels, and the second transmission gear is installed on the first bolt , the third transmission gear is installed on the second transmission shaft between the second pair of driving wheels, the fourth transmission gear is installed on the second bolt, the fifth transmission gear is installed on the third transmission shaft, and the sixth transmission gear is installed on the On the fourth transmission shaft, the first-sixth transmission gears are meshed sequentially; the second obstacle-breaking unit and the third obstacle-breaking unit have the same structure as the first obstacle-breaking unit and share the fifth transmission gear, and the first-sixth The axes of the three obstacle units are separated by 120 degrees in pairs. 2. A star-shaped obstacle-crossing wheel based on planetary wheels according to claim 1, characterized in that: the shaft section where the first transmission shaft cooperates with the first pair of drive wheels and the first transmission gear is a square shaft, and the second The shaft section that the transmission shaft cooperates with the second pair of driving wheels and the third transmission gear is a square shaft. 3. A star-shaped obstacle-crossing wheel based on a planetary wheel according to claim 1 or 2, characterized in that: the deep groove ball bearing with which the first bolt cooperates adopts clearance fit, and the deep groove ball bearing with which the second bolt cooperates The bearings are loose fit. 4. A star-shaped obstacle-crossing wheel based on a planetary wheel according to claim 1 or 2, characterized in that: the fourth transmission shaft is a hollow structure, the fourth transmission shaft is provided with fixing bolts, and the fixing bolts The two ends are located outside the outer wall of the first wheel train supporting frame and the outer wall of the second wheel train supporting frame respectively, and the fixing bolts fix the first wheel train supporting frame and the second wheel train supporting frame through limit fastening bushings. 5. A star-shaped obstacle-crossing wheel based on a planetary wheel according to claim 3, characterized in that: the fourth transmission shaft is a hollow structure, and fixing bolts are arranged through the fourth transmission shaft, and the two ends of the fixing bolts are They are located outside the outer wall of the first wheel train supporting frame and the outer wall of the second wheel train supporting frame respectively, and the fixing bolts fix the first wheel train supporting frame and the second wheel train supporting frame through limit fastening bushings.