CN111301548A - Reconfigurable foot type robot with biped/four-wheel/four-foot motion modes - Google Patents
Reconfigurable foot type robot with biped/four-wheel/four-foot motion modes Download PDFInfo
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- CN111301548A CN111301548A CN202010226879.7A CN202010226879A CN111301548A CN 111301548 A CN111301548 A CN 111301548A CN 202010226879 A CN202010226879 A CN 202010226879A CN 111301548 A CN111301548 A CN 111301548A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
The invention discloses a reconfigurable foot type robot with biped/four-wheel/four-foot motion modes, which comprises a trunk part, a hip deflection direction component, a hip transverse rolling direction component, a hip leg connecting component, a thigh component, a shank component, a driving wheel connecting component, a driving wheel, a sole component, a sole adjusting component and a driven wheel. The invention gives full play to the advantages of the reconfigurable characteristic of the foot type robot, improves the environmental adaptability of the robot, enriches the motion characteristic of the robot and expands the application scene of the robot.
Description
Technical Field
The invention relates to the field of foot robots, in particular to a reconfigurable foot robot with a biped/four-wheeled/four-leged motion mode.
Background
Biped, quadruped and wheeled robots have distinct advantages and disadvantages. For example, a biped robot has a significant advantage in terrain adaptability, has the ability to walk on a complex ground and avoid obstacles, and is inferior in movement speed and energy efficiency. The quadruped robot has higher motion stability than the biped robot, but is also disadvantageous in terms of motion ability. Wheeled robots have the highest movement speed, but cannot adapt to complex terrain environments.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a reconfigurable foot type robot with a biped/quadruped/four-wheel motion mode by combining the advantages of the existing foot type and wheel type robots, wherein the foot type robot can dynamically switch the biped, four-wheel and four-wheel modes and has strong adaptability.
The purpose of the invention is realized by the following technical scheme:
a reconfigurable legged robot with bipedal/quadric/quadruped motion modes is a bilateral symmetric structure and comprises a trunk part, a left hip, a right hip, a left leg and a right leg, wherein the trunk part is rotatably connected with the left hip and the right hip which are symmetrically arranged at two sides of the trunk part, and the left leg and the right leg are respectively rotatably connected with the left hip and the right hip;
the left hip comprises a hip rotating part and a hip leg connecting part which are rigidly connected, and the hip rotating part is used for driving the left leg to rotate relative to the trunk part in space;
the left leg comprises a thigh part, a shank part, a driving wheel connecting piece, a moving rotating part, a driving wheel, a sole part and a driven wheel;
the two ends of the hip-leg connecting part are respectively connected with one end of the thigh part and one end of the driving wheel connecting part through rotating joints, the other end of the thigh part is connected with one end of the shank part through a rotating joint, the driving wheel connecting part is connected with the shank part through a moving rotating part, and the driving wheel is arranged at the other end of the driving wheel connecting part through a rotating joint; the other end of the shank component is connected with the middle part of the sole component through a rotary joint, and the driven wheel is connected with one end of the sole component through the rotary joint; the hip leg connecting part, the thigh part, the shank part, the driving wheel connecting part and the moving and rotating part form a plane five-rod mechanism;
the left hip and the right hip are identical in structure, and the left leg and the right leg are identical in structure;
the sole component and the plane five-bar mechanism are adjusted to be in a bipedal motion mode when only the sole component contacts the ground; when the driving wheel and the driven wheel simultaneously contact the ground, the four-wheel motion mode is adopted; when the driving wheel and the sole part are simultaneously contacted with the ground and the driving wheel is in a locking state, the four-foot exercise mode is adopted.
Furthermore, the hip rotating component comprises a hip deflection direction component and a hip roll direction component, and the trunk component is connected with the hip deflection direction component through a revolute pair; the hip deflection direction component is connected with the hip roll direction component through a revolute pair; the hip transverse rolling direction component is rigidly connected with the hip leg connecting component.
Furthermore, the foot type robot further comprises a first sole adjusting connecting rod and a second sole adjusting connecting rod, one end of the first sole adjusting connecting rod is connected to the other end of the sole component through a rotating joint, the other end of the first sole adjusting connecting rod is connected with one end of the second sole adjusting connecting rod through a rotating joint, the other end of the second sole adjusting connecting rod is connected with the shank component through a rotating joint, and the shank component, the second sole adjusting connecting rod, the first sole adjusting connecting rod and the sole component form a planar four-bar mechanism so as to realize the position adjustment of the sole component and the driven wheel.
Furthermore, the movable rotating part comprises a movable joint and a rotating joint which are connected with each other, and the driving wheel connecting piece can move and rotate relative to the lower leg part through the movable joint and the rotating joint.
The invention has the following beneficial effects:
according to different task requirements and application environments, the reconfigurable foot type robot can be dynamically switched in a two-foot mode, a four-wheel mode and a four-foot mode, and an optimal mode is selected to complete a specified task. On a complex rugged road, the robot is switched to a double-foot motion mode, and only the sole component is contacted with the ground by adjusting the position of the sole adjusting component; the biped walking mode is realized by the drivers arranged on the thigh and the shank part. When the ground environment is rugged and the robot needs to have certain load capacity, the robot is switched to a four-foot mode; the driving wheel and the sole are alternately contacted with the ground, and the driving motor on the driving wheel is in a locking state, so that an arc foot mode is formed. When the ground environment is ideal, the robot is switched to a four-wheel mode, the driving wheel and the driven wheel are simultaneously contacted with the ground, and the driving wheel is driven by the driving motor. The reconfigurable foot type robot has strong environment adaptability and high working efficiency.
Drawings
FIG. 1 is a schematic diagram of the motion modes of both feet of the reconfigurable foot type robot of the invention;
FIG. 2 is a schematic diagram of four-wheel motion modes of the reconfigurable legged robot of the present invention;
FIG. 3 is a schematic diagram of four-foot motion modes of the reconfigurable foot type robot.
In the figure, a trunk member 1, a hip yaw direction member 2, a hip roll direction member 3, a hip leg connecting member 4, a thigh member 5, a shank member 6, a drive wheel connecting member 7, a moving joint 8, a rotating joint 9, a drive wheel 10, a sole member 11, a sole adjusting member two 12, a sole adjusting member one 13, and a driven wheel member 14.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the present invention will become more apparent, and the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the reconfigurable foot type robot with biped/four-wheeled/quadruped motion mode of the invention has a bilateral symmetry structure, which comprises a trunk part 1, a hip part and leg parts, wherein the left part and the right part have the same structure, and the two legs have the same structure form, thus having the same motion form. The structure of which will be described below by way of example of some of them.
The left hip comprises a hip deflection direction component 2, a hip roll direction component 3 and a hip leg connecting component 4, and the torso component 1 is connected with the hip deflection direction component 2 through a revolute pair; the hip deflection direction component 2 is connected with the hip roll direction component 3 through a revolute pair; the hip roll direction member 3 is rigidly connected to the hip leg connection member 4. Therefore, hip/leg link member 4 has two degrees of freedom in the yaw and roll directions with respect to torso member 1. The hip yaw direction member 2 and the hip roll direction member 3 are used to realize the spatial rotation of the hip-leg connecting member 4 with respect to the torso member 1, and the design and connection order thereof are not limited to this embodiment, and the rotation capability thereof may be realized by a spherical joint, a universal joint, or the like.
The left leg comprises a thigh part 5, a shank part 6, a driving wheel connecting part 7, a moving joint 8, a rotating joint 9, a driving wheel 10, a sole part 11, a sole adjusting part two 12, a sole adjusting part one 13 and a driven wheel 14, two ends of the hip leg connecting part 4 are respectively connected with one end of the thigh part 5 and one end of the driving wheel connecting part 7 through the rotating joint, the other end of the thigh part 5 is connected with one end of the shank part 6 through the rotating joint, the driving wheel connecting part 7 is connected with the shank part 6 through the moving joint 8 and the rotating joint 9, and the driving wheel 10 is installed at the other end of the driving wheel connecting part 7 through the rotating joint; the other end of the lower leg part 6 is connected with the middle part of the sole part 11 through a rotary joint, one ends of the driven wheel 14 and the sole adjusting connecting rod I13 are respectively connected with two ends of the sole part 11 through the rotary joint, the other end of the sole adjusting connecting rod I13 is connected with one end of the sole adjusting connecting rod II 12 through the rotary joint, the other end of the sole adjusting connecting rod II 12 is connected with the lower leg part 6 through the rotary joint, the lower leg part 6, the sole adjusting connecting rod II 12, the sole adjusting connecting rod I13 and the sole part 11 form a plane four-bar mechanism, and the position of the sole part 11 and the driven wheel 14 is adjusted. The hip and leg connecting part 4, the thigh part 5, the shank part 6, the driving wheel connecting part 7, the moving joint 8 and the rotating joint 9 form a plane five-rod mechanism.
In particular, in the present embodiment, the distance between the moving joint 8 and the rotating joint 9 is zero, and the length of the connecting rod between the two can be regarded as zero, so that the present embodiment can be regarded as a special plane five-bar mechanism. Without being limited to the embodiment, the movable joint 8 and the rotary joint 9 may be connected by a rod with a certain length to form a conventional five-rod mechanism. The five-rod mechanism has two freedom degrees of motion in a plane, and the two-freedom-degree motion of the plane can be realized by driving any two of five joints. The five-bar mechanism in this embodiment may be replaced by another connection form as long as two degrees of freedom of the plane of the lower leg part 6 with respect to the hip-leg connecting part 4 can be achieved. The parallelogram mechanism in this embodiment allows the sole to have one degree of freedom in this plane, and thus the motion of the sole component 11 can be achieved by driving either of the second sole adjusting link 12 and the first sole adjusting link 13. The design of the sole adjustment members 12 and 13 to achieve the positional relationship between the sole member 11 and the driven wheel member 14 with respect to the ground surface is not limited to the embodiment a, and the specific design may be satisfied as long as the positional relationship between the sole member 11 and the driven wheel member 14 with respect to the ground surface can be adjusted.
In this embodiment, each leg has at least five degrees of freedom in space, and the movement in three-dimensional space can be realized through the alternate motion.
The movement pattern of the biped robot of the present invention is described below.
As shown in fig. 1, the planar five-bar mechanism retracts the driving wheel 10 to a position far away from the ground, and locks the driving wheel 10 through a motor connected thereto; by driving the planar four-bar mechanism, the sole part 11 is adjusted to a position close to the ground, and it is ensured that the driven wheel 14 cannot contact the ground during walking. The two motors arranged on the five-rod mechanism and the driving motor of the sole part are driven to control each leg to move back and forth alternately in the plane where the leg is located, so that the function of walking on both feet is realized.
As shown in fig. 2, by driving the planar five-bar mechanism, the driving wheel 10 is extended to a position contacting the ground; the driven wheel 14 is adjusted to the position contacting the ground by driving the plane four-bar mechanism, and the sole part 11 can not contact the ground; on the basis, all the driving motors arranged on each leg are locked, and the planar motion of the four-wheel motion mode is realized by driving the driving wheel motor; the steering operation on the plane is completed by the differential motion of the two driving wheels 10.
As shown in fig. 3, by driving the plane five-bar mechanism, the driving wheel 10 is extended to a position contacting the ground, and the driving wheel 10 is locked by the motor connected thereto, so as to form an arc-shaped foot; the sole component 11 is adjusted to a position close to the ground by driving the plane four-bar mechanism, and the driven wheel 14 is ensured not to contact the ground in the walking process; the motors except the driving wheels are driven to form the gait of alternately walking by the double driving wheels 10 and the double soles 11, and the four-foot motion mode of the robot in the three-dimensional space is realized.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and although the invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes in the form and details of the embodiments may be made and equivalents may be substituted for elements thereof. All modifications, equivalents and the like which come within the spirit and principle of the invention are intended to be included within the scope of the invention.
Claims (4)
1. A reconfigurable foot robot with biped/four-wheel/four-foot movement modes is characterized in that the foot robot is of a bilateral symmetry structure and comprises a trunk part (1), a left hip, a right hip, a left leg and a right leg, wherein the trunk part (1) is rotatably connected with the left hip and the right hip which are symmetrically arranged at two sides of the trunk part, and the left leg and the right leg are respectively rotatably connected with the left hip and the right hip;
the left hip comprises a hip rotating part and a hip leg connecting part (4) which are rigidly connected, and the hip rotating part is used for driving the left leg to rotate relative to the space of the trunk part (1);
the left leg comprises a thigh part (5), a shank part (6), a driving wheel connecting piece (7), moving rotating parts (8, 9), a driving wheel (10), a sole part (11) and a driven wheel (14);
two ends of the hip leg connecting part (4) are respectively connected with one end of the thigh part (5) and one end of the driving wheel connecting part (7) through a rotary joint, the other end of the thigh part (5) is connected with one end of the shank part (6) through a rotary joint, the driving wheel connecting part (7) is connected with the shank part (6) through moving rotary parts (8 and 9), and the driving wheel (10) is arranged at the other end of the driving wheel connecting part (7) through a rotary joint; the other end of the shank component (6) is connected with the middle part of the sole component (11) through a rotary joint, and the driven wheel (14) is connected with one end of the sole component (11) through the rotary joint; the hip and leg connecting part (4), the thigh part (5), the shank part (6), the driving wheel connecting part (7) and the moving and rotating parts (8 and 9) form a plane five-rod mechanism;
the left hip and the right hip are identical in structure, and the left leg and the right leg are identical in structure.
The sole component (11) and the plane five-bar mechanism are adjusted, and when only the sole component (11) contacts the ground, the motion mode is a double-foot motion mode; when the driving wheel (10) and the driven wheel (14) are simultaneously contacted with the ground, the four-wheel motion mode is adopted; when the driving wheel (10) and the sole part (11) are simultaneously contacted with the ground and the driving wheel (10) is in a locking state, the four-foot motion mode is adopted.
2. The reconfigurable legged robot with bipedal/quadric/quadruped motion modes according to claim 1, characterized in that the hip rotation components comprise a hip yaw direction component (2) and a hip roll direction component (3), and the torso component (1) is connected with the hip yaw direction component (2) through a revolute pair; the hip deflection direction component (2) is connected with the hip rolling direction component (3) through a revolute pair; the hip roll direction component (3) is rigidly connected with the hip leg connecting component (4).
3. The reconfigurable foot robot with biped/four-wheel/quadruped motion modes according to claim 1, characterized in that the reconfigurable foot robot further comprises a first sole adjusting connecting rod (13) and a second sole adjusting connecting rod (12), wherein one end of the first sole adjusting connecting rod (13) is connected to the other end of the sole component (11) through a rotary joint, the other end of the first sole adjusting connecting rod (13) is connected to one end of the second sole adjusting connecting rod (12) through a rotary joint, the other end of the second sole adjusting connecting rod (12) is connected to the lower leg component (6) through a rotary joint, and the lower leg component (6), the second sole adjusting connecting rod (12), the first sole adjusting connecting rod (13) and the sole component (11) form a planar four-bar mechanism, so that the positions of the sole component (11) and the driven wheel (14) can be adjusted.
4. The reconfigurable legged robot having bipedal/quadripod/quadruped motion modes according to claim 1, wherein said mobile rotation members (8, 9) comprise a mobile joint (8) and a rotary joint (9) connected to each other, and said driving wheel connection member (7) is moved and rotated relative to said lower leg member (6) by said mobile joint (8) and rotary joint (9).
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010226879.7A CN111301548A (en) | 2020-03-27 | 2020-03-27 | Reconfigurable foot type robot with biped/four-wheel/four-foot motion modes |
| JP2021546447A JP7072308B2 (en) | 2020-03-27 | 2020-09-15 | Reconfigurable last-shaped robot with 2-leg / 4-wheel / 4-leg motion mode |
| LU500111A LU500111B1 (en) | 2020-03-27 | 2020-09-15 | Reconfigurable foot robot in bipedal / four-wheel / quadrupedal motion mode |
| PCT/CN2020/115417 WO2021047680A1 (en) | 2020-03-27 | 2020-09-15 | Reconfigurable foot-type robot having two-foot, four-wheel and four-foot movement modes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010226879.7A CN111301548A (en) | 2020-03-27 | 2020-03-27 | Reconfigurable foot type robot with biped/four-wheel/four-foot motion modes |
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| Publication Number | Publication Date |
|---|---|
| CN111301548A true CN111301548A (en) | 2020-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010226879.7A Pending CN111301548A (en) | 2020-03-27 | 2020-03-27 | Reconfigurable foot type robot with biped/four-wheel/four-foot motion modes |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP7072308B2 (en) |
| CN (1) | CN111301548A (en) |
| LU (1) | LU500111B1 (en) |
| WO (1) | WO2021047680A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112278105A (en) * | 2020-11-02 | 2021-01-29 | 之江实验室 | Six-rod mechanism for foot type robot |
| WO2021047680A1 (en) * | 2020-03-27 | 2021-03-18 | 之江实验室 | Reconfigurable foot-type robot having two-foot, four-wheel and four-foot movement modes |
| CN113911230A (en) * | 2021-11-26 | 2022-01-11 | 合肥工业大学 | Folding wheel mechanism for foot mechanism of unmanned metamorphic vehicle and foot mechanism |
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| CN114987644B (en) * | 2022-04-27 | 2024-03-22 | 南京理工大学 | Gait-convertible bionic robot |
| CN114714378B (en) * | 2022-05-16 | 2023-05-26 | 上海工程技术大学 | Parallel reconfigurable mountain forest mobile robot |
| CN115027591B (en) * | 2022-07-12 | 2023-11-21 | 北京理工大学 | Wheel foot robot based on independent driving multi-stage cylinder and wheel hub motor |
| CN117565996B (en) * | 2024-01-16 | 2024-03-26 | 哈尔滨工业大学 | Wheel leg composite structure and wheel leg robot |
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2020
- 2020-03-27 CN CN202010226879.7A patent/CN111301548A/en active Pending
- 2020-09-15 JP JP2021546447A patent/JP7072308B2/en active Active
- 2020-09-15 LU LU500111A patent/LU500111B1/en active IP Right Grant
- 2020-09-15 WO PCT/CN2020/115417 patent/WO2021047680A1/en active Application Filing
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021047680A1 (en) * | 2020-03-27 | 2021-03-18 | 之江实验室 | Reconfigurable foot-type robot having two-foot, four-wheel and four-foot movement modes |
| CN112278105A (en) * | 2020-11-02 | 2021-01-29 | 之江实验室 | Six-rod mechanism for foot type robot |
| CN112278105B (en) * | 2020-11-02 | 2022-04-08 | 之江实验室 | Six-rod mechanism for foot type robot |
| CN113911230A (en) * | 2021-11-26 | 2022-01-11 | 合肥工业大学 | Folding wheel mechanism for foot mechanism of unmanned metamorphic vehicle and foot mechanism |
| CN113911230B (en) * | 2021-11-26 | 2022-12-02 | 合肥工业大学 | Folding wheel mechanism for foot mechanism of unmanned metamorphic vehicle and foot mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| LU500111B1 (en) | 2021-11-04 |
| JP7072308B2 (en) | 2022-05-20 |
| JP2021534013A (en) | 2021-12-09 |
| WO2021047680A1 (en) | 2021-03-18 |
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