CN111497960A - Wheel step self-adaptive variable-configuration mobile robot - Google Patents
Wheel step self-adaptive variable-configuration mobile robot Download PDFInfo
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- CN111497960A CN111497960A CN202010396836.3A CN202010396836A CN111497960A CN 111497960 A CN111497960 A CN 111497960A CN 202010396836 A CN202010396836 A CN 202010396836A CN 111497960 A CN111497960 A CN 111497960A
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- 230000003044 adaptive effect Effects 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 6
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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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
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Abstract
The invention relates to a mobile robot, in particular to a wheel step self-adaptive variable-configuration mobile robot which comprises a vehicle body, foot plates, small spring connecting pins, springs, large spring connecting pins, wheels and a driving motor, wherein the wheels are arranged on two sides of the vehicle body, the middle parts of the wheels are connected with the driving motor arranged on the vehicle body and driven to rotate by the driving motor, a plurality of spokes are uniformly arranged in the middle parts of the wheels along the circumferential direction, each spoke is hinged with the foot plate, each foot plate is provided with the small spring connecting pin, each spoke is provided with the large spring connecting pin, and the springs are connected between the small spring connecting pin on each foot plate and the large spring connecting pin on each spoke. The invention has simple structure, light and compact overall structure and flexible movement, can effectively relieve the vibration caused by discontinuous grounding of the wheels by stretching the spring of the foot plate, and still has stability under the condition of obstacle crossing capability.
Description
Technical Field
The invention relates to a mobile robot, in particular to a wheel step self-adaptive variable-configuration mobile robot.
Background
With the rapid development of robot technology, a mobile robot adapted to complex terrains is required. The spoke type robot adopts the intermittent contact of the spokes with the ground, and has good terrain passing capacity. However, the problem of vibration caused by intermittent contact is accompanied, and the problem that the vibration has a great influence on an internal sensor system is a difficult problem to be solved urgently.
Disclosure of Invention
In order to solve the problem that the existing mobile robot influences an internal sensor system due to vibration, the invention aims to provide a wheel step adaptive variable-configuration mobile robot.
The purpose of the invention is realized by the following technical scheme:
the wheel type bicycle comprises a bicycle body, foot plates, small spring connecting pins, springs, large spring connecting pins, wheels and driving motors, wherein the wheels are mounted on two sides of the bicycle body, the middle parts of the wheels are connected with the driving motors mounted on the bicycle body and driven to rotate by the driving motors, a plurality of spokes are uniformly arranged in the middle parts of the wheels along the circumferential direction, each spoke is hinged with a foot plate, each foot plate is provided with a small spring connecting pin, each spoke is provided with a large spring connecting pin, and a spring is connected between each small spring connecting pin on each foot plate and each large spring connecting pin on each spoke.
Wherein: the rear end of the foot plate in the advancing direction is provided with the small spring connecting pin.
The rear end of the foot plate is U-shaped, and the spring penetrates through the U-shaped opening and is connected with the small spring connecting pin.
The foot plates are arc-shaped plates, and the circle center of the circle where each foot plate is located is concentric with the circle center of the middle part of the wheel.
The foot plate is hinged with the spoke through a foot plate connecting pin.
The outer edge of the middle part of the wheel extends outwards along the radial direction to form a spoke, the spoke is of a cylindrical structure, a groove is formed in one side, facing the spring, of the spoke, and the spring penetrates through the groove and is connected with the large spring connecting pin.
The foot plates on each wheel are intermittently in contact with the ground, namely only one foot plate on each wheel is always in contact with the ground when moving.
In the process that the foot plate is in contact with the ground, under the action of stress in the rotating process, the foot plate rotates around the hinged axis and pulls the spring to buffer impact kinetic energy generated in instant contact.
The invention has the advantages and positive effects that:
1. the robot provided by the invention has the advantages of simple structure, light and compact overall structure, flexible movement and delicate control, and the adjustable and self-adaptive capacity of the wheel part can ensure that the robot has stronger terrain passing capacity and damping capacity.
2. The invention can effectively relieve the vibration caused by the discontinuous grounding of the wheels by stretching the spring of the foot plate, and has stability under the condition of obstacle crossing capability.
3. The invention completes the terrain self-adaptation through the spring and solves the vibration problem of the spoke type robot.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a front view of the structure of the present invention;
FIG. 3 is a schematic diagram of the obstacle crossing of the present invention;
wherein: the bicycle comprises a bicycle body 1, a foot plate 2, a foot plate connecting pin 3, a small spring connecting pin 4, a spring 5, a large spring connecting pin 6, a wheel 7 and a spoke 8.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the present invention includes a vehicle body 1, a foot plate 2, a foot plate connecting pin 3, a small spring connecting pin 4, a spring 5, a large spring connecting pin 6, wheels 7 and a driving motor, wherein the wheels 7 are mounted on both sides of the vehicle body 1, the wheels 7 of the present embodiment have two groups, two in each group, and the two wheels 7 in each group are symmetrically mounted on both sides of the vehicle body 1. The middle part of the wheel 7 is connected with a driving motor arranged on the vehicle body 1 and is driven to rotate by the driving motor; the driving motors of the embodiment are fixed inside the vehicle body 1, the number of the driving motors can be one to four, when the number of the driving motors is one, two wheels 7 in each group share one wheel shaft, the wheel shaft is rotatably installed on the vehicle body 1, an output shaft of the driving motor is in transmission connection with wheel shafts of two groups of wheels 7 through a transmission mechanism (which can be a chain transmission mechanism), and the two groups of four wheels 7 are driven to synchronously rotate; when the number of the driving motors is two, the two wheels 7 in each group share one wheel shaft, the wheel shaft is rotatably arranged on the vehicle body 1, an output shaft of each driving motor is in transmission connection with the wheel shaft of one group of wheels 7 through a transmission mechanism (which can be a gear transmission mechanism), and the two wheels 7 in each group can be independently driven and synchronously rotated by one driving motor; when the number of the driving motors is three, two wheels 7 in any group share one wheel shaft, the wheel shaft is rotatably arranged on the vehicle body 1 and is independently driven and synchronously rotated by an output shaft of one driving motor through a transmission mechanism (which can be a gear transmission mechanism), two wheels 7 in the other group are respectively rotatably arranged on the vehicle body 1 through the wheel shaft, each wheel 7 in the other group is connected with an output shaft of one driving motor through a coupler, and two wheels 7 in the other group are independently driven and rotated by two driving motors; when the number of the driving motors is four, each wheel 7 is rotatably installed on the vehicle body 1 through a wheel shaft and is connected with an output shaft of one driving motor through a coupler, and the four driving motors independently drive the four wheels 7 to rotate. This embodiment also allows the wheel 7 to have its middle portion extended axially towards the inner surface of the body 1, the extension being rotatably mounted on the body 1, the axle being connected to the extension.
The middle part of this embodiment wheel 7 evenly is equipped with a plurality of (six in this embodiment) spokes 8 along the circumferencial direction, and the outward flange of this embodiment wheel 7 middle part radially outwards extends and forms spoke 8, all articulates on every spoke 8 has sole board 2, all installs little spring coupling pin 4 on every sole board 2, all installs big spring coupling pin 6 on every spoke 8, all is connected with spring 5 between the big spring coupling pin 6 on little spring coupling pin 4 on every sole board 2 and every spoke 8. The spoke 8 of this embodiment is a cylindrical structure, and one side facing the spring 5 is provided with a groove, and the spring 5 penetrates through the groove and is connected with the large spring connecting pin 6. The foot plates 2 are arc-shaped plates, the circle center of the circle where each foot plate 2 is located is concentric with the circle center of the middle part of the wheel 7, and each foot plate 2 is hinged with one spoke 8 through a foot plate connecting pin 3; the rear end of the foot plate 2 in the advancing direction is provided with a small spring connecting pin 4, the rear end of the foot plate 2 is U-shaped, and a spring 5 penetrates through the U-shaped opening and is connected with the small spring connecting pin 4.
The working principle of the invention is as follows:
as shown in fig. 1 to 3, the driving motor drives the wheels 7 to rotate, each foot plate 2 on each wheel 7 is contacted with the ground intermittently, namely only one foot plate 2 on each wheel 7 is contacted with the ground all the time when moving, the driving motor has good adaptability and maneuverability for complex terrains under the condition of low speed, and the contact probability with obstacles can be increased and the terrain passing capability can be improved through intermittent contact. In the process that the foot plate 2 is contacted with the ground, under the action of stress in the rotating process, the foot plate 2 rotates around the axis of the foot plate connecting pin 3, and the spring 5 is pulled to buffer the impact kinetic energy generated in the instant contact.
Claims (8)
1. The utility model provides a wheel step self-adaptation morphism mobile robot which characterized in that: comprises a vehicle body (1), a foot plate (2), a small spring connecting pin (4), a spring (5), a large spring connecting pin (6), wheels (7) and a driving motor, wherein, the two sides of the vehicle body (1) are both provided with wheels (7), the middle parts of the wheels (7) are connected with a driving motor arranged on the vehicle body (1) and driven by the driving motor to rotate, the utility model discloses a wheel, including wheel (7), the intermediate part of wheel (7) evenly is equipped with a plurality of spokes (8), every all articulated on spoke (8) have sole board (2), every all install little spring coupling round pin (4) on sole board (2), every all install big spring coupling round pin (6), every on spoke (8) little spring coupling round pin (4) and every on sole board (2) all be connected with spring (5) between big spring coupling round pin (6) on spoke (8).
2. The round-robin adaptive configuration-changing mobile robot according to claim 1, wherein: the rear end of the foot plate (2) in the advancing direction is provided with the small spring connecting pin (4).
3. The round-robin adaptive configuration-changing mobile robot according to claim 2, wherein: the rear end of the foot plate (2) is U-shaped, and the spring (5) penetrates through the U-shaped opening and is connected with the small spring connecting pin (4).
4. The round-robin adaptive configuration-changing mobile robot according to claim 1, wherein: the foot plates (2) are arc-shaped plates, and the circle center of the circle where each foot plate (2) is located is concentric with the circle center of the middle part of the wheel (7).
5. The round-robin adaptive configuration-changing mobile robot according to claim 1, wherein: the foot plate (2) is hinged with the spoke (8) through the foot plate connecting pin (3).
6. The round-robin adaptive configuration-changing mobile robot according to claim 1, wherein: the outer edge of the middle part of the wheel (7) extends outwards along the radial direction to form a spoke (8), the spoke (8) is of a cylindrical structure, a groove is formed in one side, facing the spring (5), of the spoke, and the spring (5) penetrates through the groove and is connected with the large spring connecting pin (6).
7. The round-robin adaptive configuration-changing mobile robot according to claim 1, wherein: the foot plates (2) on each wheel (7) are intermittently contacted with the ground, namely only one foot plate (2) on each wheel (7) is contacted with the ground all the time when moving.
8. The round-robin adaptive configuration-changing mobile robot according to claim 1, wherein: in the process that the foot plate (2) is in contact with the ground, under the action of stress in the rotating process, the foot plate (2) rotates around the hinged axis and pulls the spring (5) to buffer impact kinetic energy generated in instant contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010396836.3A CN111497960A (en) | 2020-05-12 | 2020-05-12 | Wheel step self-adaptive variable-configuration mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010396836.3A CN111497960A (en) | 2020-05-12 | 2020-05-12 | Wheel step self-adaptive variable-configuration mobile robot |
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| CN111497960A true CN111497960A (en) | 2020-08-07 |
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| CN202010396836.3A Pending CN111497960A (en) | 2020-05-12 | 2020-05-12 | Wheel step self-adaptive variable-configuration mobile robot |
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Citations (16)
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| US20050133280A1 (en) * | 2001-06-04 | 2005-06-23 | Horchler Andrew D. | Highly mobile robots that run and jump |
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| CN108820065A (en) * | 2018-06-11 | 2018-11-16 | 武汉科技大学 | The locust-simulated bouncing robot that can be walked |
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