Obstacle-crossing walking wheel, walking mechanism and method for controlling walking mechanism to cross obstacles

Abstract

The present invention discloses an obstacle-crossing walking wheel, a walking mechanism and a method for controlling the walking mechanism to cross obstacles, and belongs to the technical field of walking machinery, wherein the obstacle-crossing walking wheel comprises a walking wheel body, a plurality of guide slideways are arranged circumferentially in the walking wheel body, the guide slideways extend along the radial direction of the walking wheel body and communicate with the outside, support legs are slidably connected in the guide slideways, a control mechanism for controlling the support legs to extend out of the guide slideways is provided in the walking wheel body, an obstacle-crossing area for crossing obstacles can be formed between two adjacent support legs as the support legs are extended, the obstacle-crossing walking wheel provides a brand-new way of crossing obstacles, when the walking wheel crosses over an obstacle, the obstacle-crossing area formed by two adjacent support legs can accommodate the obstacle therein, and the obstacle can be directly crossed without using the obstacle as a support point, and then there is no need to worry about the obstacle piercing the walking wheel or getting stuck between the support legs, and the obstacle-crossing walking wheel and the walking mechanism can be widely used in various walking machinery.

Description

Technical Field

[0001] The invention relates to the technical field of walking machines, in particular to an obstacle-crossing walking wheel, a walking mechanism and a method for controlling the walking mechanism to cross obstacles. Background Art

[0002] In life, there are often some tasks that are difficult for humans to perform. These tasks are either difficult in themselves or risky and can cause harm to human physical and mental health. For example, when spraying paint on the inner wall of a wind turbine tower, on the one hand, it is easy to damage the treated ground materials when humans enter the pipeline to work. On the other hand, the poor air circulation in the tower is not good for the health of the workers. If robots can be used to replace humans to perform these tasks, these problems can be completely solved. That is, when spraying paint on a wind turbine tower, the self-contained paint spraying equipment can be installed on a walking robot, and then the walking robot can be used to enter the pipeline to complete the spraying operation, without having to consider the air circulation problem in the tower.

[0003] However, there are many high metal nails on the ground of the wind turbine tower, and the walking wheels used by general walking robots are difficult to cope with the bottom surface with metal nails. Although some walking wheels that can cross obstacles have gradually appeared on the market this year, they are limited by the way of crossing obstacles. Such walking wheels can only cross general obstacles and are difficult to cross metal nails, because the current walking wheels that can cross obstacles often need to rely on obstacles as support points, and the walking wheels can only cross the obstacles by lifting them up, while metal nails are difficult to serve as support points for walking wheels, and it is easy to damage the walking wheels or get stuck in the walking mechanism of the walking wheels with metal nails as support points. For example, the patent number "CN112407094A" and the patent name "A walking wheel with retractable support feet" discloses such a walking wheel, including a tire and a spoke plate connected to one side of the tire, and the other side of the spoke plate is provided with a plurality of support feet arranged along the circumference of the tire, and the plurality of support feet are hinged to the base in the tire and enclosed in a circle on one side of the tire, and a support foot cover is provided on the outside of the support foot, and the support foot is unfolded or retracted by a hydraulic retractable mechanism. When it is necessary to cross an obstacle, the support legs are unfolded. The unfolded support legs use the obstacle as a support point to lift the entire tire and thus cross the obstacle. However, this method is difficult to leverage when encountering thinner metal nails. Moreover, even for ordinary obstacles, when using the obstacle as a support point, once the obstacle shifts, it is easy to get stuck between the two support legs of the tire. Summary of the invention

[0004] The purpose of the present invention is to solve the above-mentioned technical problems and to provide an obstacle-crossing walking wheel, a walking mechanism and a method for controlling the walking mechanism to cross obstacles. The walking wheel provides a new way to cross obstacles. Unlike traditional walking wheels, there is no need to use obstacles as support points to press over obstacles. The obstacle-crossing walking wheel extends support legs and forms an obstacle-crossing area between two adjacent support legs. When the obstacle-crossing walking wheel crosses an obstacle, the obstacle-crossing area between the two support legs in contact with the ground can accommodate the obstacle, so that the walking wheel body can directly cross the obstacle without relying on the obstacle for support, and there is no need to worry about the obstacle getting stuck between the support legs or the sharp obstacle piercing the walking wheel.

[0005] To achieve the above-mentioned purpose, the present invention provides the following solution: The present invention discloses an obstacle-crossing walking wheel, including a walking wheel body, a plurality of guide slides are arranged circumferentially in the walking wheel body, the guide slides extend radially along the walking wheel body and communicate with the outside, support legs are slidably connected in the guide slides, and a control mechanism for controlling the support legs to extend out of the guide slides is provided in the walking wheel body, and an obstacle-crossing area for crossing obstacles can be formed between two adjacent support legs as the support legs are extended.

[0006] Preferably, the control mechanism includes a driving wheel disc coaxially connected to the inside of the walking wheel body and a rotating device driving the driving wheel disc to rotate, a plurality of eccentric grooves are circumferentially arranged on the disc surface of the driving wheel disc, a driving slider is slidably connected in the eccentric groove, and the driving slider is hinged to the support leg.

[0007] Preferably, a driving shaft is fixed on the walking wheel body, and the driving wheel disc is rotatably connected to the driving shaft.

[0008] Preferably, the rotating device includes a worm gear structure and a rotating motor fixed in the walking wheel body, the worm wheel in the worm gear structure is coaxially fixed on the driving wheel disc, the driving shaft is rotationally connected to the worm wheel, the worm in the worm gear structure is rotationally connected in the walking wheel body, and the end of the worm is coaxially connected to the output shaft of the rotating motor through a coupling.

[0009] Preferably, both ends of the worm are rotatably connected to the walking wheel body through a support ring and a worm mounting seat respectively, and the rotating motor is connected to one end of the worm provided with the support ring.

[0010] Preferably, the guide slide is a rectangular slide, the support leg is a rectangular support rod matching the rectangular slide, and the end surface of the rectangular support rod that can extend out of one end of the rectangular slide is an arc-shaped surface.

[0011] Preferably, the length L of the obstacle crossing area needs to satisfy the following formula:

[0012] 2l min ≤L≤l max +l min

[0013]

[0014]

[0015]

[0016] Among them, l min is the closest crossing distance between the front supporting leg and the obstacle in the obstacle crossing area along the forward direction; max is the farthest climbing distance between the front support leg and the obstacle in the obstacle-crossing area along the forward direction; the obstacle height is H; the extension length of the support leg is l; the radius of the walking wheel body is R; θ is the angle between the support leg and the ground; and w is the angle between the two support legs.

[0017] A walking mechanism is also disclosed, including a mounting platform for mounting a robot body and the above-mentioned obstacle-crossing walking wheel, two groups of walking wheel bodies are rotatably connected to both sides of the mounting platform respectively, and a driving mechanism for driving the walking wheel body to rotate is provided at the bottom of the mounting platform.

[0018] Preferably, the guide slides of two adjacent walking wheel bodies in the same group are staggered, and the guide slides of two adjacent walking wheel bodies on the opposite side of the mounting platform are staggered.

[0019] Also disclosed is a walking mechanism obstacle crossing method, which is used to control the walking mechanism described above, and comprises the following steps:

[0020] First, the walking mechanism drives near the obstacle with the support legs not extending out of the walking wheel body;

[0021] Then, the control mechanism is used to control the support legs on all the walking wheel bodies to extend. At this time, it is necessary to ensure that two support legs of the walking wheel body that is going to cross the obstacle touch the ground at the same time, and then a double-supported wheel is formed. One support leg of the adjacent walking wheel bodies in the same group touches the ground to form a single-supported wheel. Then, the walking wheel body on the opposite side of the double-supported wheel forms a single-supported wheel, and the walking wheel body on the opposite side of the single-supported wheel forms a double-supported wheel. The extension length of the support legs of the double-supported wheel is determined according to the length of the obstacle, and the extension length of the single-supported wheel needs to ensure that the installation platform remains in a horizontal state.

[0022] Then, when crossing an obstacle, the extension length of the support leg of the walking wheel body needs to change as the angle of rotation from the initial state changes;

[0023] Finally, the above steps are repeated until all the walking wheel bodies in the same group in the walking mechanism have crossed the obstacle.

[0024] Preferably, the steps include:

[0025] The extension lengths of the support legs of the single-support wheel and the double-support wheel are l1 and l2 respectively: and l1 and l2 must satisfy the following formula:

[0026] (l1+R)sinθ≥H+R

[0027] And (l1+R)sinθ=l2+R

[0028] When crossing an obstacle, the extension length of the support leg of the single-support wheel must satisfy the following formula as the angle changes from the initial state:

[0029]

[0030] When crossing an obstacle, the extension length of the support legs of the double-support wheel must satisfy the following formula as the angle changes from the initial state:

[0031]

[0032] Among them, the obstacle height is H; the radius of the walking wheel body is R; is the angle between the support leg and the ground; is the angle through which the walking wheel body of the single-support wheel rotates; is the angle through which the walking wheel body of the double-support wheel rotates.

[0033] Compared with the prior art, the present invention has achieved the following technical effects:

[0034] 1. The present invention discloses an obstacle-crossing walking wheel, the walking wheel body of which is provided with extendable and retractable supporting legs, when the supporting legs are extended out of the walking wheel body, an obstacle-crossing area is formed between two adjacent supporting legs, the obstacle-crossing area can accommodate obstacles on the ground during the rotation of the walking wheel body, so that the walking wheel body can directly cross the obstacle, without the need to use the obstacle as a support point to press over the obstacle like a traditional walking wheel, so there is no need to worry about sharp obstacles piercing the walking wheel, or obstacles getting stuck between the supporting legs, and the walking wheel can be widely used in any machinery that requires a walking wheel, such as automobiles or robots.

[0035] 2. The present invention discloses a walking mechanism, which can be used to install robots with various functions, such as a painting robot, a cleaning robot, or a firefighting robot, through an installation platform. Then, through the obstacle-crossing walking wheels on both sides of the installation platform, the robot does not need to worry about obstacles on the ground. For example, when the painting robot is painting the inside of a wind turbine tower, there is no need to worry about metal nails on the ground. This walking mechanism can be widely installed in any machine that requires a walking mechanism, such as a car or a robot.

[0036] 3. The present invention discloses a method for controlling a walking mechanism to cross obstacles. The method can effectively control the walking mechanism to cross obstacles, and can also ensure that the installation platform always remains in a horizontal state when crossing obstacles, thereby ensuring stable operation of the robot. At the same time, the supporting legs in the method need to adjust the extension length according to the height of the obstacle, thereby ensuring that the metal nail obstacle can be effectively crossed while playing a positioning role. At the same time, in the face of irregularly distributed obstacles on the ground, the distance between the front and rear wheels can also be indirectly adjusted by controlling the extension length of the supporting legs, thereby ensuring the complete operation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0038] Figure 1 It is a three-dimensional structural diagram of the walking mechanism when the supporting legs are extended;

[0039] Figure 2 It is a three-dimensional structural diagram of the walking mechanism when the supporting legs are retracted;

[0040] Figure 3 It is a three-dimensional structural diagram of the outer side of the driving wheel disc;

[0041] Figure 4 It is a structural schematic diagram of the outer side of the driving wheel disc;

[0042] Figure 5 It is a three-dimensional schematic diagram of the inner side of the driving wheel disc;

[0043] Figure 6 It is a schematic diagram of the three-dimensional structure of the walking wheel body;

[0044] Figure 7 is a cross-sectional view of the traveling wheel body;

[0045] Figure 8 is a cross-sectional view of the traveling wheel body in another direction;

[0046] Fig. 9 A schematic diagram of the obstacle crossing area formed by the walking wheel body;

[0047] Fig.10 The following is a schematic diagram of the walking mechanism;

[0048] Fig.11 It is a schematic diagram of the compensation length of the support legs of the front and rear walking wheel bodies;

[0049] Fig.12 It is a schematic diagram of the walking mechanism when it is away from obstacles;

[0050] Fig.13 It is a schematic diagram of the starting state of the walking mechanism during the obstacle crossing process;

[0051] Fig.14 It is a schematic diagram of the walking mechanism when it crosses 36° during the obstacle crossing process;

[0052] Fig.15 It is a schematic diagram of the walking mechanism when it crosses 72° during the obstacle crossing process;

[0053] Fig.16 It is a schematic diagram of the walking mechanism when it crosses 108° during the obstacle crossing process;

[0054] Fig.17 This is a schematic diagram of the end state of the obstacle crossing process of the walking mechanism.

[0055] Explanation of the accompanying drawings: 1. walking wheel body; 2. guide slide; 3. support leg; 4. obstacle crossing area; 5. driving wheel disc; 6. eccentric slide groove; 7. driving slider; 8. driving shaft; 9. rotating motor; 10. worm gear; 11. worm; 12. coupling; 13. worm mounting seat; 14. wheel surface; 15. arc surface; 16. mounting platform; 17. driving motor; 18. metal nails. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] Example 1

[0058] This embodiment discloses an obstacle-crossing walking wheel, such as Figures 1 to 17As shown, it includes a walking wheel body 1, and a plurality of guide slideways 2 are arranged in the circumference of the walking wheel body 1. The guide slideways 2 extend along the radial direction of the walking wheel body 1 and communicate with the outside. Support legs 3 are slidably connected in the guide slideways 2. A control mechanism is provided in the walking wheel body 1, and the control mechanism can control the support legs 3 to extend or retract the guide slideways 2. When the support legs 3 extend the guide slideways 2 by the control mechanism, an obstacle crossing area 4 for crossing obstacles can be formed between two adjacent support legs 3. Figures 9 to 17 It can be seen that when the walking wheel body 1 moves to the vicinity of an obstacle (such as a metal nail 18), the support legs 3 on the walking wheel body 1 can extend the guide slide 2 under the control of the control mechanism, thereby lifting the walking wheel body 1 and forming an obstacle-crossing area 4 between two adjacent support legs 3. As the walking wheel body 1 rotates, the obstacle-crossing area 4 will cover the obstacle, so that the walking wheel body 1 can directly cross the obstacle, instead of using the obstacle as a support point like a traditional walking wheel that can cross obstacles, so that the support legs 3 can be placed on the obstacle to cross the obstacle. Therefore, even when facing obstacles such as metal nails 18, it can be crossed, and there is no need to worry about the metal nails 18 puncturing the wheel surface 14 of the walking wheel body 1, and the obstacle being stuck between the two support legs 3.

[0059] In this embodiment, Figures 1 to 17 As shown, the control mechanism includes a driving wheel disc 5 and a rotating device, and the driving wheel disc 5 is coaxially rotatably connected inside the walking wheel body 1. A plurality of eccentric grooves 6 are arranged circumferentially on the disc surface of the driving wheel disc 5, and a driving slider 7 is slidably connected in the eccentric groove 6, and the driving slider 7 is hinged to the support leg 3. Driven by the rotating device, the driving wheel disc 5 can be driven to rotate in both positive and negative directions. As the driving wheel disc 5 rotates forward or reversely, the driving slider 7 can slide outward or inward along the eccentric groove 6, thereby pushing the support leg 3 to extend outward or retract inward from the guide slide 2. The provision of the driving wheel disc 5 can realize the simultaneous driving of the support legs 3. Compared with providing each support leg 3 with a separate mechanism for driving its sliding, the arrangement of the driving wheel disc 5 is simpler and more feasible.

[0060] Further, in this embodiment, if Figures 1 to 17 As shown, a driving shaft 8 is fixed on the walking wheel body 1, and the driving wheel disc 5 is rotatably connected to the driving shaft 8. Specifically, an axial center hole is set at the axis center of the driving wheel disc 5, and then the axial center hole is connected to the driving shaft 8 through a bearing.

[0061] Further, in this embodiment, if Figures 1 to 17As shown, the rotating device includes a worm gear structure and a rotating motor 9; the worm wheel 10 in the worm gear structure is coaxially fixed on the driving wheel plate 5, and the worm wheel 10 is also rotationally connected to the driving shaft 8, and the worm 11 in the worm gear structure is rotationally connected in the running wheel body 1. The rotating motor 9 is fixed inside the running wheel body 1, and the output shaft of the rotating motor 9 is coaxially connected to the end of the worm 11 through a coupling 12.

[0062] Further, in this embodiment, if Figures 1 to 17 As shown, both ends of the worm 11 are rotatably connected in the walking wheel body 1 through a support ring and a worm mounting seat 13 respectively. Specifically, one end of the worm 11 is inserted into the worm mounting seat 13 and rotatably connected thereto through a bearing, and the other end of the worm 11 is connected to the bearing in the support ring, and at the same time, the end of the worm 11 is connected to the output shaft of the rotating motor 9 through a coupling 12.

[0063] In this embodiment, Figures 1 to 17 As shown, the guide slide 2 is a rectangular slide, and the support leg 3 is a rectangular support rod that matches the rectangular slide. The end face of the rectangular support rod that can extend out of one end of the rectangular slide is a circular arc surface 15, which can reduce the problem of excessive torque caused by friction when climbing over obstacles. At the same time, when the machine equipped with the present walking wheel body 1 is moving, when the walking wheel body 1 is flipped and extended, it is very likely that the support leg 3 of the front walking wheel body 1 of the machine will pull the support leg 3 of the rear walking wheel body 1 or the support leg 3 of the rear walking wheel body 1 will drag the support leg 3 of the front walking wheel body 1. The circular arc surface 15 can solve the problem caused by this situation because it ensures that the device using the present walking wheel body 1 can slide a certain distance in the horizontal direction.

[0064] In this embodiment, Figures 1 to 17 As shown, the length of the obstacle crossing area 4 is L and needs to satisfy the following formula:

[0065] 2l min ≤L≤l max +l min

[0066]

[0067]

[0068]

[0069] Among them, l min is the shortest crossing distance between the front support leg 3 and the obstacle (such as the metal nail 18) in the obstacle crossing area 4 along the forward direction; maxis the farthest climbing distance between the front support leg 3 and the obstacle in the obstacle-crossing area 4 along the forward direction; the height of the obstacle is H; the extended length of the support leg 3 is l; the radius of the walking wheel body 1 is R; θ is the angle between the support leg 3 and the ground; and w is the angle between the two support legs 3.

[0070] Further, in this embodiment, if Figures 1 to 17 As shown, there are five supporting legs 3, and the angle w between the five supporting legs 3 is 72°. Of course, the number of supporting legs 3 is not limited to five, and in fact, six or more supporting legs are also possible. Here, only a preferred implementation is provided.

[0071] In this embodiment, Figures 1 to 17 As shown, the outside of the running wheel body 1 may be covered with a rubber material to ensure that the running wheel body 1 can directly pass through a tiny obstacle when encountering one without extending the support leg 3 .

[0072] Example 2

[0073] This embodiment discloses a walking mechanism, including a mounting platform 16 for mounting a robot body and an obstacle-crossing walking wheel in Embodiment 1, wherein two groups of walking wheel bodies 1 are respectively connected to the two sides of the mounting platform 16 in rotation, and a driving mechanism for driving the walking wheel body 1 to rotate is provided at the bottom of the mounting platform 16. There are at least two walking wheel bodies 1 in each group of walking wheel bodies 1, but preferably, each group of two walking wheel bodies 1 is relatively simple to control. When in use, a robot body with various functions can be pre-installed on the mounting platform 16, such as a painting robot for painting the inner wall of a wind power tower, and then the robot can be placed in the wind power tower for painting. Before encountering an obstacle, the support legs 3 on the walking wheel body 1 are not extended. Once the monitoring device on the robot body finds that there is an obstacle in front, after the walking mechanism approaches the obstacle, the support legs 3 can be driven by the control mechanism to extend out of the walking wheel body 1, at which time the walking mechanism and the robot as a whole will be lifted, and then when all the walking wheel bodies 1 of the same group on the side with the obstacle have passed the obstacle, the support legs 3 can be retracted by the control mechanism to make the walking wheel body 1 roll normally again.

[0074] In order to ensure that the mounting platform 16 always maintains a certain height when the walking mechanism moves after the supporting legs 3 are extended, so as to ensure that the robot moves forward stably, in this embodiment, Figures 1 to 17 As shown, the guide slides 2 of two adjacent running wheel bodies 1 in the same group are staggered, and the guide slides 2 of two adjacent running wheel bodies 1 on the opposite side of the mounting platform 16 are staggered. Specifically, each group of two running wheel bodies 1, and each running wheel body 1 has five guide slides 2 as an example, refer to Figure 1, when one support leg 3 in the right front running wheel body 1 of the installation platform 16 touches the ground (i.e., single support state), two support legs 3 in the left front running wheel body 1 touch the ground (i.e., double support state), two support legs 3 in the right rear running wheel body 1 touch the ground (double support state), and one support leg 3 in the left rear running wheel body 1 touches the ground (single support state). That is, the support legs 3 of the running wheel body 1 in the single support state and the running wheel body 1 in the double support state are staggered by 36°. When encountering obstacles, the support legs 3 in the single support state and the support legs 3 in the double support state each extend to different lengths, but they need to be adjusted at all times to cooperate with each other to keep the installation platform 16 always in a horizontal state.

[0075] Further, in this embodiment, if Figures 1 to 17 As shown, the driving mechanism includes a driving motor 17 arranged at the bottom of the mounting platform 16 , the output shaft of the driving motor 17 is connected to the driving shaft 8 , and the driving motor 17 drives the walking wheel body 1 to rotate.

[0076] Example 3

[0077] This embodiment discloses a walking mechanism obstacle crossing method, which is used to control the walking mechanism in embodiment 2. Figures 1 to 17 As shown, the following steps are included:

[0078] First, the walking mechanism drives near the obstacle with the support leg 3 not extending out of the walking wheel body 1;

[0079] Then, the support legs 3 on all the running wheel bodies 1 are extended through the control mechanism. At this time, it is necessary to ensure that two support legs 3 in the running wheel body 1 that is going to cross the obstacle touch the ground at the same time, and then a double-supported wheel is formed. One support leg 3 in the adjacent running wheel bodies 1 in the same group touches the ground to form a single-supported wheel. Then the running wheel body 1 on the opposite side of the double-supported wheel forms a single-supported wheel, and the running wheel body 1 on the opposite side of the single-supported wheel forms a double-supported wheel. The extension length of the support legs 3 of the double-supported wheel is determined according to the length of the obstacle, and the extension length of the single-supported wheel needs to ensure that the mounting platform 16 remains in a horizontal state.

[0080] Then, when crossing an obstacle, the extended lengths of the support legs 3 of all the running wheel bodies 1 need to change with the change of the angle from the initial state; because when the walking mechanism encounters an obstacle, the number of support legs 3 in contact with the ground of the front running wheel body 1 and the rear running wheel body 1 is different, that is, the supporting postures are different, so if the length of the support legs 3 is kept unchanged during the crossing process, the center point position of the running wheel body 1 will move upward in an arc shape, and then the extended lengths of the support legs 3 of all the running wheel bodies 1 need to change with the change of the angle from the initial state;

[0081] Finally, the above steps are repeated until all the running wheel bodies 1 of the same group in the running mechanism have crossed the obstacle.

[0082] Further, when the extended length of the support leg 3 of the walking wheel body 1 changes with the change of the angle from the initial state, the specific extended length of the support leg 3 needs to meet the following steps, such as Figures 1 to 17 As shown, in this embodiment, the following steps are included:

[0083] The extension lengths of the support legs 3 of the single-support wheel and the double-support wheel are l1 and l2 respectively: and l1 and l2 need to satisfy the following formula:

[0084] (l1+R)sinθ≥H+R

[0085] And (l1+R)sinθ=l2+R

[0086] When crossing an obstacle, the extension length of the support leg 3 of the single-support wheel must satisfy the following formula as the angle changes from the initial state:

[0087]

[0088] When crossing an obstacle, the extension length of the support leg 3 of the double-support wheel must satisfy the following formula as the angle changes from the initial state:

[0089]

[0090] Among them, the obstacle height is H; the radius of the walking wheel body is R; is the angle between the support leg 3 and the ground; is the angle through which the walking wheel body 1 of the single-support wheel rotates; is the angle through which the walking wheel body 1 of the double-support wheel rotates.

[0091] In this embodiment, reference Figures 12 to 17 As shown, the specific control method and process when the walking mechanism crosses the obstacle are as follows:

[0092] Here, a walking mechanism with four walking wheel bodies 1 and each walking wheel body 1 having five supporting legs 3 is taken as an example. When encountering an obstacle, the walking mechanism will mainly complete the climbing through four stages.

[0093] The first stage is the process of the walking mechanism climbing from 0° to 36°. Figure 11 to Figure 12 :

[0094] When the front left walking wheel body 1 encounters the metal nail 18, the front left walking wheel body 1 and the rear right walking wheel body 1 flip from the double-supported posture to the single-supported posture, and the worm 11 in the two walking wheel bodies 1 rotates clockwise synchronously, thereby controlling the extension length of the support leg 3 from l1 to the formula At this time, the front right walking wheel body 1 and the rear left walking wheel body 1 turn from a single-support posture to a double-support posture, and the worm 11 in the two left walking wheel bodies 1 rotates counterclockwise synchronously, and the extended length is controlled from l2 to follow the formula The elongation is l1. During the elongation and shortening, the forward and reverse rotation speeds of the worm 11 in each running wheel body 1 are controlled as much as possible to ensure that the center positions of the front and rear running wheel bodies 1 are always kept on the same horizontal line during the climbing process.

[0095] The second stage is the process of the walking mechanism climbing from 36° to 72°. Figure 12 to Figure 13 :

[0096] The front left walking wheel body 1 and the rear right front left walking wheel body 1 turn over from a single support posture to a double support posture, and the worm 11 in the two front left walking wheel bodies 1 rotates counterclockwise synchronously, and the extension length l2 of the support rod 3 is changed according to the formula The front right walking wheel body 1 and the rear left walking wheel body 1 flip from the double-supported posture to the single-supported posture, and the worm 11 in the two walking wheel bodies 1 rotates clockwise synchronously, and the extended length of the support leg 3 changes from l1 to the formula During the extension and contraction, the forward and reverse rotation speeds of the worm 11 in each running wheel body 1 are controlled as much as possible to ensure that the center positions of the front and rear running wheel bodies 1 are always kept on the same horizontal line during the climbing process.

[0097] The third stage is the process of the walking mechanism climbing from 72° to 108°. Figure 13 to Figure 14 :

[0098] The front left walking wheel body 1 and the rear right front left walking wheel body 1 turn over from the double-supported posture to the single-supported posture, and the worm 11 in the two walking wheel bodies 1 rotates clockwise synchronously, and the extended length of the support leg 3 changes from l1 to the formula The front right walking wheel body 1 and the rear left walking wheel body 1 turn from a single-support posture to a double-support posture, and the worm 11 of the two middle walking wheel bodies 1 rotates counterclockwise synchronously, and the extended length of the support leg 3 changes from l2 to the formula The elongation is l1. During the elongation and shortening, the forward and reverse rotation speeds of the worm 11 in each running wheel body 1 are controlled as much as possible to ensure that the center positions of the front and rear running wheel bodies 1 are always kept on the same horizontal line during the climbing process.

[0099] The fourth stage is the process of the walking mechanism climbing from 108° to 144°, refer to Figure 14 to Figure 15 :

[0100] The front left walking wheel body 1 and the rear right front left walking wheel body 1 turn over from the double support posture to the single support posture, and the worm 11 in the two walking wheel bodies 1 rotates clockwise synchronously, and the extension length of the support leg 3 changes from l2 to the formula The front right walking wheel body 1 and the rear left walking wheel body 1 turn from the double-supported posture to the single-supported posture, and the worm 11 in the two walking wheel bodies rotates clockwise synchronously, and the extended length of the support leg 3 changes from l1 to the formula During the extension and contraction, the forward and reverse rotation speeds of the worm 11 in each running wheel body 1 are controlled as much as possible to ensure that the center positions of the front and rear running wheel bodies 1 are always kept on the same horizontal line during the climbing process.

[0101] After climbing over 144°, the front walking wheel body 1 of the walking mechanism will complete the climbing process of the obstacle. After the front left walking wheel body 1 completes the climbing process of the metal nail 18, it will enter the preparation work before the rear left walking wheel body 1 climbs over the metal nail 18. Its turning process basically climbs over again according to the above four obstacle crossing stages. After climbing over 144°, the rear left walking wheel body 1 will cross the metal nail 18. The entire walking mechanism completes the climbing work of the metal nail 18. Here, only the process when the left side group of walking wheel bodies 1 encounters an obstacle is cited. In fact, when the right side group of walking wheel bodies 1 encounters an obstacle, the process is consistent with the left side. Of course, a relatively standardized crossing process is cited here. In fact, the walking mechanism may encounter more complicated situations when walking. For example, during the walking process of the walking mechanism, only the front walking wheel body 1 will encounter an obstacle, and the rear one does not need to be crossed, or the front two walking wheel bodies 1 need to cross the obstacle at the same time, or the front and rear four walking wheel bodies 1 need to cross the obstacle at the same time. There are many situations, and it can be flexibly adjusted based on the above walking process adjustment method.

[0102] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An obstacle-crossing walking wheel, characterized in that: The walking wheel body comprises a plurality of guide slideways arranged in the circumferential direction of the walking wheel body, the guide slideways extend in the radial direction of the walking wheel body and communicate with the outside, a support leg is slidably connected in the guide slideway, and a control mechanism for controlling the support leg to extend out of the guide slideway is provided in the walking wheel body, and an obstacle-crossing area for crossing obstacles can be formed between two adjacent support legs as the support legs extend out, and the length of the obstacle-crossing area is L and needs to satisfy the following formula: in, is the shortest crossing distance between the front supporting leg and the obstacle in the obstacle crossing area along the forward direction; is the maximum distance between the front support leg and the obstacle in the obstacle-crossing area in the forward direction; the obstacle height is H; the support leg extension length is ;The radius of the walking wheel body is R; is the angle between the supporting leg and the ground; w is the angle between the two supporting legs.

2. The obstacle-crossing walking wheel according to claim 1, characterized in that: The control mechanism includes a driving wheel disc coaxially connected to the inside of the walking wheel body and a rotating device that drives the driving wheel disc to rotate. A plurality of eccentric grooves are circumferentially arranged on the disc surface of the driving wheel disc. A driving slider is slidably connected in the eccentric groove. The driving slider is hinged to the supporting leg. A driving shaft is fixed to the walking wheel body, and the driving wheel disc is rotatably connected to the driving shaft.

3. The obstacle-crossing walking wheel according to claim 2, characterized in that: The rotating device includes a worm gear structure and a rotating motor fixed in the walking wheel body, the worm wheel in the worm gear structure is coaxially fixed on the driving wheel disc, the driving shaft is rotationally connected to the worm wheel, the worm in the worm gear structure is rotationally connected in the walking wheel body, and the end of the worm is coaxially connected to the output shaft of the rotating motor through a coupling.

4. The obstacle-crossing walking wheel according to claim 3, characterized in that: The two ends of the worm are rotatably connected in the walking wheel body through a support ring and a worm mounting seat respectively, and the rotating motor is connected to one end of the worm provided with the support ring.

5. The obstacle-crossing walking wheel according to claim 4, characterized in that: The guide slide is a rectangular slide, the support leg is a rectangular support rod matching the rectangular slide, and the end surface of the rectangular support rod that can extend out of one end of the rectangular slide is an arc-shaped surface.

6. A walking mechanism, characterized in that: It comprises a mounting platform for mounting a robot body and an obstacle-crossing walking wheel as described in any one of claims 1 to 5, wherein two groups of the walking wheel bodies are rotatably connected to two sides of the mounting platform respectively, and a driving mechanism for driving the walking wheel bodies to rotate is provided at the bottom of the mounting platform.

7. A walking mechanism according to claim 6, characterized in that: The guide slides of two adjacent walking wheel bodies in the same group are staggered, and the guide slides of two adjacent walking wheel bodies on the opposite side of the mounting platform are staggered.

8. A walking mechanism obstacle crossing method, used to control the walking mechanism described in claim 7, characterized in that: The following steps are involved: First, the walking mechanism drives near the obstacle with the support legs not extending out of the walking wheel body; Then, the control mechanism is used to control the support legs on all the walking wheel bodies to extend. At this time, it is necessary to ensure that two support legs of the walking wheel body that is going to cross the obstacle touch the ground at the same time, and then a double-supported wheel is formed. One support leg of the adjacent walking wheel bodies in the same group touches the ground to form a single-supported wheel. Then, the walking wheel body on the opposite side of the double-supported wheel forms a single-supported wheel, and the walking wheel body on the opposite side of the single-supported wheel forms a double-supported wheel. The extension length of the support legs of the double-supported wheel is determined according to the length of the obstacle, and the extension length of the single-supported wheel needs to ensure that the installation platform remains in a horizontal state. Then, when crossing an obstacle, the extension length of the support leg of the walking wheel body needs to change as the angle of rotation from the initial state changes; Finally, the above steps are repeated until all the walking wheel bodies in the same group in the walking mechanism have crossed the obstacle.

9. A walking mechanism obstacle crossing method according to claim 8, characterized in that: The following steps are involved: The extension lengths of the support legs of the single-support wheel and the double-support wheel are , :and , The following formula must be satisfied: as well as When crossing obstacles, the support leg of the single-support wheel extends to , as the angle changes from the initial state, the following formula must be satisfied: When crossing obstacles, the support legs of the double-supported wheels extend to , as the angle changes from the initial state, the following formula must be satisfied: Among them, the height of the obstacle is H; the radius of the walking wheel body is R; is the angle between the supporting leg and the ground; The angle through which the travel wheel body of the single-support wheel rotates; It is the angle through which the traveling wheel body of the double-support wheel rotates.

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