技术领域technical field
本发明采用行星轮系和履带手臂复合、两节式车体的行走机构，具备良好的高越障能力。The present invention adopts the traveling mechanism of the compound planetary gear train and crawler arms, and a two-section car body, and has good high obstacle-surpassing ability.
背景技术Background technique
目前存在的行走机构可分为：轮式、腿式、履带式及复合式。其中，轮式结构具有较快的行驶速度且结构简单，但其对于环境的适应性差、越障能力低；履带式机构具有较强的越野能力，但自重过高、能耗大；腿式结构通过腿部姿态调整，能适应多种地形，但其需要大量的驱动器、制动及转向装置，使系统结构复杂，稳定步态规划和稳定平衡控制难以实现。Existing walking mechanism can be divided into: wheel type, leg type, crawler type and composite type. Among them, the wheel structure has a fast driving speed and a simple structure, but its adaptability to the environment is poor and its ability to overcome obstacles is low; the crawler mechanism has strong off-road capability, but its weight is too high and energy consumption is large; the leg structure By adjusting the posture of the legs, it can adapt to various terrains, but it requires a large number of drives, brakes and steering devices, which makes the system structure complex, and it is difficult to achieve stable gait planning and stable balance control.
发明内容Contents of the invention
本发明提出一种在环境较为恶劣的情况下，能够自适应环境变化并且具备强越障能力的行星轮履带复合式行走机构。该机构融合了轮式、腿式和履带式机构的特点，可以根据不同的路面状况来改变其运动模式，而且结构简单，操作便捷。在平缓路面轮式结构能实现较高的行走速度，行星轮结构能辅助越过较低障碍物，履带式结构能辅助越过高障碍物，车体结构设计能保证该行走机构在越障过程中不会被障碍物卡住。The invention proposes a planetary wheel-crawler composite traveling mechanism capable of adapting to environmental changes and possessing strong obstacle-surmounting ability in the case of a relatively harsh environment. The mechanism combines the characteristics of wheel, leg and crawler mechanisms, can change its motion mode according to different road conditions, and has a simple structure and convenient operation. The wheel structure can achieve a higher walking speed on gentle roads, the planetary wheel structure can assist in crossing lower obstacles, the crawler structure can assist in crossing high obstacles, and the body structure design can ensure that the walking mechanism does not cross obstacles get stuck by obstacles.
为实现行星轮系在不同路面状况下的变换，太阳轮轴(7)通过轴承安装在车体内部，在前车身(24)内安装太阳轮轴的驱动装置，太阳轮轴(7)由前车体(24)提供支撑，安装在车体内部。太阳轮(8)则安装在太阳轮轴(7)在车体外一侧的端部；太阳轮(8)驱动的行星轮(11)安装在内齿轮轴(4)上，保证了在驱动轮内齿轮(1)被障碍物卡住时行星轮(11)仍能运动来改变自身高度，从而改变重心位置来实现越障；为实现该机构的基本行驶运动，内齿轮轴(4)由外部内齿轮保持架(21)来提供支撑，外部内齿轮保持架(21)安装在前车身(24)外部，保证了行星轮系的运动和驱动轮内齿轮(1)的运动不会产生干涉，使得该行走机构能实现平稳的行走运动。In order to realize the transformation of the planetary gear system under different road conditions, the sun gear shaft (7) is installed inside the car body through bearings, and the driving device of the sun gear shaft is installed in the front body (24), and the sun gear shaft (7) is driven by the front car body ( 24) Provide support and be installed inside the car body. The sun gear (8) is installed on the end of the sun gear shaft (7) on the outer side of the car body; the planetary gear (11) driven by the sun gear (8) is installed on the internal gear shaft (4), ensuring that the planetary gear (11) in the drive wheel When the gear (1) is stuck by an obstacle, the planetary wheel (11) can still move to change its own height, thereby changing the position of the center of gravity to achieve obstacle surmounting; in order to realize the basic driving motion of the mechanism, the inner gear shaft (4) is formed by the external and internal The gear cage (21) provides support, and the external internal gear cage (21) is installed outside the front body (24), ensuring that the movement of the planetary gear train and the movement of the driving wheel internal gear (1) will not interfere, so that The walking mechanism can realize smooth walking motion.
在越障过程中，可实现履带式手臂前后摆动与履带轮(17)自转共轴线。前支撑轴(14)位于驱动力电机(27)前方，用轴承固定在前车身(24)上，中间的驱动前支撑轴运动齿轮(20)和两端履带轮(17)通过键连接安装在轴上，驱动前支撑轴齿轮(20)由单独的电机驱动，使前支撑轴(13)不受驱动轮内齿轮(1)影响独立运动，使安装在上方的履带轮(17)转动，从而实现了履带轮(17)自转。中间驱动履带轮保持架齿轮(20)与另一单独电机驱动的主动齿轮(24)啮合；套筒(18)另一端用销与履带轮保持架(12)连接在一起；当齿轮(19)被驱动时，套筒(18)旋转带动履带轮保持架(12)运动，实现了履带式手臂的前后摆动；在遇到直径大于小车驱动轮半径的障碍物时，履带轮保持架(12)向前摆动，支撑起前车身，靠履带的转动产生摩擦力，帮助前车体先越过障碍物，从而实现了整个高越障的过程。In the process of overcoming obstacles, the front and rear swing of the crawler arm and the coaxial rotation of the crawler wheel (17) can be realized. The front support shaft (14) is positioned at the front of the driving force motor (27), and is fixed on the front vehicle body (24) with a bearing, and the middle drive front support shaft motion gear (20) and the crawler wheels (17) at both ends are installed on the On the shaft, the driving front support shaft gear (20) is driven by a separate motor, so that the front support shaft (13) can move independently without being affected by the drive wheel internal gear (1), so that the track wheel (17) installed above can rotate, thereby Realized crawler wheel (17) rotation. The middle drive track wheel cage gear (20) meshes with another driving gear (24) driven by an independent motor; the other end of the sleeve (18) is connected with the track wheel cage (12) with a pin; when the gear (19) When driven, the sleeve (18) rotates to drive the track wheel cage (12) to move, realizing the swing of the crawler arm; when encountering an obstacle whose diameter is larger than the radius of the driving wheel of the trolley, the track wheel cage (12) Swing forward to support the front body, rely on the rotation of the track to generate friction, help the front body to cross the obstacle first, thus realizing the whole process of overcoming obstacles.
在进行高越障的过程中，考虑到车体可能出现卡在障碍物上的情形，运用双节式车体，前车身(24)和后车身(23)是通过中间的万向联轴器(22)连接在一起，当前车身(24)靠手臂支撑起来时，能使前后车身形成一定的角度，前车身(24)不必受后车身(23)的束缚，有利于车体越过障碍物；当越过障碍物之后，由于前轮为驱动轮，小车继续往前运动，后车身(23)便跟着越过障碍向前运动。In the process of high obstacle surmounting, considering that the car body may be stuck on the obstacle, a double-section car body is used, and the front body (24) and the rear body (23) pass through the middle universal coupling. (22) connected together, when the front vehicle body (24) is supported by the arms, the front and rear vehicle bodies can be formed at a certain angle, and the front vehicle body (24) need not be bound by the rear vehicle body (23), which is beneficial for the vehicle body to cross over obstacles; After crossing the obstacle, because the front wheel is the driving wheel, the dolly continues to move forward, and the rear body (23) moves forward along with crossing the obstacle.
本发明的有益效果是，不仅能在各种不同情况的路面平顺地行驶，还具备高越障能力，结构简单，能耗较小。The beneficial effect of the invention is that it can not only run smoothly on various road surfaces, but also has high obstacle-surpassing ability, simple structure and low energy consumption.
附图说明Description of drawings
图1行走机构总体装配图；Figure 1 overall assembly drawing of the traveling mechanism;
图2行走机构驱动轮装配图；Figure 2 Assembly drawing of driving wheel of traveling mechanism;
图3驱动轮装配草图；Figure 3 Assembly sketch of drive wheel;
图4行走机构履带轮手臂装配图；Figure 4 The assembly drawing of the track wheel arm of the traveling mechanism;
图5履带轮手臂剖面图；Fig. 5 section view of track wheel arm;
图6行走机构前支撑轴部分；Figure 6 The front support shaft part of the traveling mechanism;
以下是说明书附图中各项内容的具体说明：The following is a detailed description of each content in the accompanying drawings of the manual:
1.驱动轮内齿轮 2.太阳轮用减速腹板式齿轮 3.行星架用轴承 4.内齿轮轴 5.内齿轮轴保持架用轴承 6.连接销 7.太阳轮轴 8.太阳轮 9.太阳轴连接车身用轴承 10.行星架11.行星轮 12.履带轮保持架 13.前支撑轴 14.连接车架轴承 15.套筒用轴承 16.履带轮保持架用轴承 17.履带轮 18.套筒 19.驱动履带轮保持架齿轮 20.驱动前支撑轴齿轮21.内齿轮保持架 22.万向联轴器 23.后车身 24.前车身 25.主动齿轮 26.谐波齿轮减速器 27.电机1. Internal gear of drive wheel 2. Reduction web gear for sun gear 3. Bearing for planet carrier 4. Shaft of inner gear 5. Bearing for cage of inner gear shaft 6. Connecting pin 7. Shaft of sun gear 8. Sun gear 9. Sun Bearings for connecting the shaft to the body 10. Planetary frame 11. Planetary wheels 12. Track wheel cage 13. Front support shaft 14. Bearings for connecting the frame 15. Bearings for sleeves 16. Bearings for track wheel cages 17. Track wheels 18. Sleeve 19. Drive track wheel cage gear 20. Drive front support shaft gear 21. Internal gear cage 22. Universal coupling 23. Rear body 24. Front body 25. Driving gear 26. Harmonic gear reducer 27 .motor
具体实施方式Detailed ways
图3中太阳轮轴(7)一端固定在车体内，车体内的一端还安装有一个减速的从动腹板式齿轮(2)，由电机和主动齿轮驱动。另一端伸出车体外，安装有驱动车轮运动的太阳轮(7)。太阳轮轴(7)末端用销连接(6)的方式将太阳轴(7)和内齿轮轴(4)固定在一起。太阳轮(8)与行星轮(11)啮合，用轴承与行星架(10)组合，再通过轴承(3)固定在内齿轮轴(4)上。内齿轮以内齿轮轴(4)为中心旋转，内齿轮轴(4)在伸出内齿轮(1)外端有内齿轮保持架用轴承(5)，使得内齿轮轴(4)和内齿轮保持架(21)相连。从图6中可以看出内齿轮保持架(21)固定在前车身(24)上，从而保证了在平坦的路面状况下，被驱动的太阳轮(8)使行星轮(11)转动，驱动小车向前行驶。这种情况下，履带手臂不起作用。Sun gear shaft (7) one end is fixed in the car body among Fig. 3, and the driven web type gear (2) of a deceleration is also installed in one end in the car body, is driven by motor and driving gear. The other end stretches out of the vehicle body and is equipped with a sun gear (7) that drives the movement of the wheels. The end of the sun gear shaft (7) is fixed together with the sun shaft (7) and the internal gear shaft (4) by means of a pin connection (6). The sun gear (8) meshes with the planetary gear (11), is combined with the planetary carrier (10) with a bearing, and is fixed on the inner gear shaft (4) by the bearing (3). The inner gear rotates around the inner gear shaft (4), and the inner gear shaft (4) has a bearing (5) for the inner gear cage at the outer end of the inner gear (1), so that the inner gear shaft (4) and the inner gear are kept Frame (21) links to each other. It can be seen from Fig. 6 that the internal gear cage (21) is fixed on the front body (24), thereby ensuring that the driven sun gear (8) rotates the planetary gear (11) under the condition of a flat road surface, driving The car moves forward. In this case, the track arm has no effect.
当小车遇到直径约为车轮半径的障碍物时，行星轮系变为周转轮系，太阳轮(8)保持不动的状态，行星轮(11)作周转轮改变车体重心使整个车体越过障碍物。When the trolley encounters an obstacle whose diameter is about the radius of the wheel, the planetary gear system becomes an epicyclic gear system, the sun gear (8) remains stationary, and the planetary gear (11) acts as an epicyclic wheel to change the center of gravity of the vehicle body so that the entire vehicle body Jump over obstacles.
图5中前支撑轴(13)位于图3太阳轮用减速腹板式齿轮(2)前方，由图5中两轴端连接车架轴承(14)固定在车架上。其中中间的驱动前支撑轴齿轮(20)和两端履带轮(17)都是通过键连接在前支撑轴(13)上，由单独的电机驱动，使前支撑轴(13)不受驱动轮内齿轮(1)影响独立转动，则履带轮(17)也随之转动，实现了履带式手臂的履带自转。履带自转是在小车越障过程中摩擦力的主要来源。驱动履带轮保持架齿轮(19)与图6中另一单独电机驱动的主动齿轮(25)啮合。从图5中可以看出，套筒(18)另一端用销与履带轮保持架(12)连接在一起。齿轮(19)被驱动时，套筒(18)旋转带动图5履带轮保持架(12)运动，实现了履带式手臂的前后摆动。Front support shaft (13) is positioned at Fig. 3 sun gear and is fixed on the vehicle frame with the deceleration web type gear (2) front among Fig. 5, is connected vehicle frame bearing (14) by two axle ends among Fig. 5. Wherein the drive front support shaft gear (20) in the middle and the crawler wheels (17) at both ends are all connected on the front support shaft (13) by keys, driven by a separate motor, so that the front support shaft (13) is not driven by the drive wheel Internal gear (1) influences independent rotation, and then crawler wheel (17) also rotates thereupon, has realized the crawler belt autorotation of crawler arm. Track rotation is the main source of friction in the process of trolley surmounting obstacles. The drive track wheel cage gear (19) meshes with another separate motor-driven driving gear (25) in FIG. 6 . As can be seen from Fig. 5, the other end of the sleeve (18) is connected with the track wheel cage (12) with a pin. When the gear (19) was driven, the rotation of the sleeve (18) drove the track wheel cage (12) in Figure 5 to move, realizing the front and rear swing of the crawler arm.
在遇到直径大于小车驱动轮半径的障碍物时，履带轮保持架向前摆动，支撑起前车身，靠履带的转动产生摩擦力，帮助前车体越过障碍物。从图6中可以看到前车身(24)和后车身(23)是通过中间的万向联轴器(22)连接在一起的，当前车身(24)靠履带手臂越过障碍物之后，由于前轮为驱动轮，小车继续往前运动，后车身(23)便跟着越过障碍向前运动，从而实现了整个高越障的过程。When encountering an obstacle whose diameter is larger than the radius of the driving wheel of the trolley, the track wheel cage swings forward to support the front body, and the rotation of the track generates friction to help the front body cross the obstacle. As can be seen from Fig. 6, the front vehicle body (24) and the rear vehicle body (23) are connected together by the universal joint (22) in the middle. The wheel is a driving wheel, and the dolly continues to move forward, and the rear vehicle body (23) moves forward along with crossing obstacles, thereby realizing the whole process of overcoming obstacles at high altitudes.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410216534.8ACN104029746B (en) | 2014-05-20 | 2014-05-20 | Planetary gear crawler belt combined type tread systems design |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410216534.8ACN104029746B (en) | 2014-05-20 | 2014-05-20 | Planetary gear crawler belt combined type tread systems design |
| Publication Number | Publication Date |
|---|---|
| CN104029746Atrue CN104029746A (en) | 2014-09-10 |
| CN104029746B CN104029746B (en) | 2018-08-07 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410216534.8AExpired - Fee RelatedCN104029746B (en) | 2014-05-20 | 2014-05-20 | Planetary gear crawler belt combined type tread systems design |
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