CN113696972B - Four-wheeled robot with deformable vehicle body - Google Patents
Four-wheeled robot with deformable vehicle body Download PDFInfo
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- CN113696972B CN113696972B CN202111094620.2A CN202111094620A CN113696972B CN 113696972 B CN113696972 B CN 113696972B CN 202111094620 A CN202111094620 A CN 202111094620A CN 113696972 B CN113696972 B CN 113696972B
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- connecting rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/14—Understructures, i.e. chassis frame on which a vehicle body may be mounted of adjustable length or width
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- Combustion & Propulsion (AREA)
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Abstract
The application belongs to ground mobile robot field, concretely relates to four-wheel robot with flexible automobile body, include: a first wheel mechanism (A1), a second wheel mechanism (A2), a third wheel mechanism (A3), a fourth wheel mechanism (A4), a first telescopic mechanism (B1), a second telescopic mechanism (B2) and a frame (C); the four-wheel robot has the advantages that the body of the four-wheel robot is driven to deform by the coupling of the two telescopic rods crossed in the middle, the functions of adaptation, differential speed, angle steering and the like of narrow terrain, unstructured terrain, high and low steps and slopes can be realized, the four wheels are driven independently, a passive revolute pair is provided to adapt to the terrain, the good terrain adaptability enables the four-wheel robot to be applied to the fields of exploration and investigation and the like, and the four-wheel robot has wide prospects.
Description
Technical Field
The application belongs to the field of ground mobile robots, and particularly relates to a four-wheeled robot with a deformable vehicle body.
Background
The wheel type ground mobile robot is widely researched due to the characteristics of high speed, stable operation and the like during movement, and the existing four-wheel robot has a vehicle body which is not deformable or has a single deformation mode and can be limited by the size of the vehicle body in an unstructured environment. For example, CN202110460060.1 discloses a wheeled robot, which employs four independent steering wheels, and each steering wheel is driven by an independent driving manner, so that the four-wheel steering robot can implement various movement manners such as forward, backward, oblique, transverse, and in-situ steering, but due to its structural characteristics, the vehicle body is not deformable, and the running on a narrow road surface is affected by the excessive size of the vehicle body.
For example, CN202010046152.0 discloses a four-wheeled robot with a scalable vehicle body, which can realize folding and unfolding deformation with a single degree of freedom, is convenient for storage and transportation during folding, and can adjust the vehicle width, vehicle length and wheel track through deformation of a vehicle body mechanism after unfolding so as to meet different moving requirements.
Disclosure of Invention
The invention aims to solve the problems and provides a four-wheel robot with a deformable vehicle body, wherein the vehicle body of the robot is driven and deformed by two telescopic rods crossed in the middle in a coupling mode, the robot can complete adaptation, differential speed and angle steering of narrow terrain, unstructured terrain, high and low steps and slopes, four wheels are driven independently, a passive revolute pair is provided to adapt to the terrain, and the robot has good terrain adaptability, can be applied to the fields of exploration and investigation and the like and has wide prospects.
In order to achieve the purpose of the invention, the technical scheme of the invention is as follows: a four-wheeled robot having a deformable body, comprising: the device comprises a first wheel mechanism, a second wheel mechanism, a third wheel mechanism, a fourth wheel mechanism, a first telescopic mechanism, a second telescopic mechanism and a frame;
the first wheel mechanism includes: the structure and the size of the second wheel mechanism, the third wheel mechanism and the fourth wheel mechanism are completely the same as those of the first wheel mechanism;
further, the first telescoping mechanism includes: the telescopic rod, the telescopic rod first connecting rod, the telescopic rod second connecting rod, the telescopic rod third connecting rod and the telescopic rod fourth connecting rod are arranged in the telescopic rod, and the structure and the size of the second telescopic mechanism are completely the same as those of the first telescopic mechanism;
further, the frame includes: the first connecting rod, the first torsion spring, the first connecting frame, the second connecting rod, the second connecting frame, the second torsion spring, the third connecting rod, the third torsion spring, the third connecting frame, the fourth connecting rod, the fourth connecting frame and the fourth torsion spring;
further, the first connecting rod is provided with a position 1, a position 2, a position 3, a position 4, a position 5, a position 6 and a position 7, which are respectively used for connecting with other mechanisms.
Furthermore, the first wheel mechanism is rotatably connected with the first connecting rod at the position 6, the second wheel mechanism is rotatably connected with the first connecting rod at the position 2, and the third wheel mechanism, the fourth wheel mechanism and the third connecting rod are connected with the first wheel mechanism in the same connecting mode and are arranged in a central symmetry mode relative to the frame;
furthermore, one end of a first telescopic mechanism is connected with the upper part of one end of the telescopic rod through a ball pair, one end of a second telescopic rod is connected with the lower part of one end of the telescopic rod through a ball pair, one end of a third telescopic rod is connected with the upper part of the other end of the telescopic rod through a ball pair, and one end of a fourth telescopic rod is connected with the lower part of the other end of the telescopic rod through a ball pair; the second telescopic mechanism and the first telescopic mechanism have the same structure and internal connection mode;
furthermore, the other end of the first connecting rod of the telescopic rod is connected with an upper interface at the middle part of the fourth connecting rod through a ball pair, the other end of the second connecting rod of the telescopic rod is connected with an upper interface at the position 4 of the first connecting rod through a ball pair, the other end of the third connecting rod of the telescopic rod is connected with an upper interface at the middle part of the second connecting rod through a ball pair, and the other end of the fourth connecting rod of the telescopic rod is connected with an upper interface at the position 4 of the third connecting rod through a ball pair; the external connection mode of the second telescopic mechanism is completely the same as that of the first telescopic mechanism; the difference of the connection positions is that the outer ends of the telescopic rod connecting rods in the second telescopic mechanism are respectively connected with the lower interfaces of the middle parts of the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod through ball pairs;
furthermore, a first connecting rod is fixedly connected with one end of the first torsion spring at a position 3 and is fixedly connected with one end of the fourth torsion spring at a position 5, the first connecting rod is rotatably connected with one end of the first connecting frame at a position 1 and is rotatably connected with one end of the fourth connecting frame at a position 7, and the two rotary connecting axes are vertical; the third connecting rod and the second torsion spring, the third torsion spring, the second connecting frame and the third connecting frame are completely the same in connection mode with the first connecting rod, the first torsion spring, the fourth torsion spring, the first connecting frame and the fourth connecting frame and are symmetrically arranged around the center of the frame;
furthermore, the left end of the second connecting rod is rotatably connected with the other end of the first connecting frame, the right end of the second connecting rod is rotatably connected with the other end of the second connecting frame, and the two rotary connecting axes are vertical; the connection modes of the fourth connecting rod and the third connecting frame and the fourth connecting frame and the second connecting rod, the first connecting frame and the second connecting frame are completely the same and are symmetrically arranged about the center of the frame;
furthermore, the other end of the first torsion spring is fixedly connected with the second wheel mechanism, the other end of the fourth torsion spring is fixedly connected with the first wheel mechanism, the other end of the second torsion spring is fixedly connected with the third wheel mechanism, and the other end of the third torsion spring is fixedly connected with the fourth wheel mechanism.
The invention has the beneficial effects that:
according to the four-wheel robot with the deformable vehicle body, the vehicle body of the robot achieves the deformation effect through the coupling driving of the two telescopic rods which are arranged in a crossed mode, so that the robot has multiple moving modes, and the functions of passing through a slit, passing through an unstructured terrain, passing through high and low steps and a slope can be realized. The good terrain adaptability enables the device to be applied to the fields of exploration, investigation and the like, and the device has wide prospects.
Drawings
FIG. 1 is a three-dimensional view of a four-wheeled robot having a deformable body;
FIG. 2 is a three-dimensional view of a first wheel mechanism;
FIG. 3 is a three-dimensional view of a first telescoping mechanism;
FIG. 4 is a three-dimensional view of the vehicle frame;
FIG. 5 is a three-dimensional view of a first connecting rod;
FIG. 6 is a schematic view of a movement pattern;
Detailed Description
The present invention is further described with reference to the accompanying drawings and the detailed description, and it should be noted that, in the case of no conflict, any combination between the embodiments or technical features described below may form a new embodiment.
A four-wheeled robot having a transformable vehicle body, as shown in fig. 1, comprising: a first wheel mechanism A1, a second wheel mechanism A2, a third wheel mechanism A3, a fourth wheel mechanism A4, a first telescopic mechanism B1, a second telescopic mechanism B2 and a frame C;
as shown in fig. 2, the first wheel mechanism a1 includes: the structure and the size of the hub motor A1-1, the wheel connecting frame A1-2, the second wheel mechanism A2, the third wheel mechanism A3 and the fourth wheel mechanism A4 are completely the same as those of the first wheel mechanism A1;
as shown in fig. 3, the first telescopic mechanism B1 includes: the structure and the size of the telescopic rod B1-1, the telescopic rod first connecting rod B1-2, the telescopic rod second connecting rod B1-3, the telescopic rod third connecting rod B1-4 and the telescopic rod fourth connecting rod B1-5 are completely the same as those of the first telescopic machine B1); one end of a first connecting rod B1-2 of the telescopic rod is connected with the upper part of one end of a telescopic rod B1-1 through a ball pair, one end of a second connecting rod B1-3 of the telescopic rod is connected with the lower part of one end of a telescopic rod B1-1 through a ball pair, one end of a third connecting rod B1-4 of the telescopic rod is connected with the upper part of the other end of a telescopic rod B1-1 through a ball pair, and one end of a fourth connecting rod B1-5 of the telescopic rod is connected with the lower part of the other end of a telescopic rod B1-1 through a ball pair; the second telescopic mechanism B2 has the same structure and internal connection mode as the first telescopic mechanism B1;
as shown in fig. 4, the vehicle frame C includes: the device comprises a first connecting rod C-1, a first torsion spring C-2, a first connecting frame C-3, a second connecting rod C-4, a second connecting frame C-5, a second torsion spring C-6, a third connecting rod C-7, a third torsion spring C-8, a third connecting frame C-9, a fourth connecting rod C-10, a fourth connecting frame C-11 and a fourth torsion spring C-12;
as shown in FIG. 5, the first connecting rod C-1 is provided with a position 1C-1-I, a position 2C-1-II, a position 3C-1-III, a position 4C-1-IV, a position 5C-1-V, a position 6C-1-VI and a position 7C-1-VII, which are respectively used for connecting with other mechanisms;
a first connecting rod C-1 is fixedly connected with one end of a first torsion spring C-2 at a position 3C-1-III, is fixedly connected with one end of a fourth torsion spring C-12 at a position 5C-1-V, is rotatably connected with one end of a first connecting frame C3 at a position 1C-1-I and is rotatably connected with one end of a fourth connecting frame C-11 at a position 7C-1-VII, and the rotating connecting axes of the two positions are vertical; the third connecting rod C-7, the second torsion spring C-6, the third torsion spring C-8, the second connecting frame C-5 and the third connecting frame C-9 have the same connecting mode with the first connecting rod C-1, the first torsion spring C-2, the fourth torsion spring C-12, the first connecting frame C3 and the fourth connecting frame C-11 and are symmetrically arranged about the center of the frame;
the left end of a second connecting rod C-4 is rotationally connected with the other end of the first connecting frame C-3, the right end of the second connecting rod C-4 is rotationally connected with the other end of the second connecting frame C-5, and the two rotational connecting axes are vertical; the fourth connecting rod C-10, the third connecting frame C-9 and the fourth connecting frame C-11 are completely connected with the second connecting rod C-4, the first connecting frame C-3 and the second connecting frame C-5 in the same way and are symmetrically arranged about the center of the frame.
The working process comprises the following steps: a four-wheeled robot with a deformable body can realize the functions of passing through a slit, passing through unstructured terrain, passing through high and low steps and a slope. As shown in fig. 6, the first telescopic mechanism B1 and the second telescopic mechanism B2 of the robot are arranged in a crossed manner and are driven in a coupled manner, the first wheel mechanism a1, the second wheel mechanism a2, the third wheel mechanism A3 and the fourth wheel mechanism a4 are driven independently, and a passive revolute pair is added to achieve the effect of deforming the robot body, so that the functions of passing through a slit shown in fig. 6a, passing through an unstructured terrain shown in fig. 6B, passing through a high step shown in fig. 6c and passing through a slope shown in fig. 6d are achieved.
While particular embodiments of the present invention have been described above, it will be understood by those skilled in the art that these are by way of illustration only, and that the scope of the invention is defined by the appended claims. Various changes or modifications to these embodiments may be made by those skilled in the art without departing from the principle and spirit of this invention, and these changes and modifications are within the scope of this invention.
Claims (2)
1. A four-wheeled robot having a deformable body, comprising: a first wheel mechanism (A1), a second wheel mechanism (A2), a third wheel mechanism (A3), a fourth wheel mechanism (A4), a first telescopic mechanism (B1), a second telescopic mechanism (B2) and a frame (C);
the first wheel mechanism (A1) includes: the structure and the size of the wheel hub motor (A1-1), the wheel connecting frame (A1-2), the second wheel mechanism (A2), the third wheel mechanism (A3) and the fourth wheel mechanism (A4) are completely the same as those of the first wheel mechanism (A1);
the first telescopic mechanism (B1) comprises: the telescopic rod (B1-1), the telescopic rod first connecting rod (B1-2), the telescopic rod second connecting rod (B1-3), the telescopic rod third connecting rod (B1-4) and the telescopic rod fourth connecting rod (B1-5), and the structure and the size of the second telescopic mechanism (B2) are completely the same as those of the first telescopic mechanism (B1);
the frame (C) comprises: the connecting device comprises a first connecting rod (C-1), a first torsion spring (C-2), a first connecting frame (C-3), a second connecting rod (C-4), a second connecting frame (C-5), a second torsion spring (C-6), a third connecting rod (C-7), a third torsion spring (C-8), a third connecting frame (C-9), a fourth connecting rod (C-10), a fourth connecting frame (C-11) and a fourth torsion spring (C-12);
the first connecting rod (C-1) is provided with a position 1(C-1-I), a position 2(C-1-II), a position 3(C-1-III), a position 4(C-1-IV), a position 5(C-1-V), a position 6(C-1-VI) and a position 7(C-1-VII) which are respectively used for being connected with other mechanisms.
2. The four-wheeled robot having a transformable vehicle body according to claim 1, wherein:
the first wheel mechanism (A1) is rotationally connected with a first connecting rod (C-1) at a position 6(C-1-VI), the second wheel mechanism (A2) is rotationally connected with the first connecting rod (C-1-II) at a position 2(C-1-II), and the third wheel mechanism (A3), the fourth wheel mechanism (A4) and the third connecting rod (C-7) are connected with the first wheel mechanism (A1), and the second wheel mechanism (A2) and the first connecting rod (C-1) in the same way and are symmetrically arranged about the center of the frame;
one end of a first connecting rod (B1-2) of the telescopic rod is connected with the upper part of one end of the telescopic rod (B1-1) through a ball pair, one end of a second connecting rod (B1-3) of the telescopic rod is connected with the lower part of one end of the telescopic rod (B1-1) through a ball pair, one end of a third connecting rod (B1-4) of the telescopic rod is connected with the upper part of the other end of the telescopic rod (B1-1) through a ball pair, and one end of a fourth connecting rod (B1-5) of the telescopic rod is connected with the lower part of the other end of the telescopic rod (B1-1) through a ball pair; the second telescopic mechanism (B2) and the first telescopic mechanism (B1) have the same structure and internal connection mode;
the other end of the first connecting rod (B1-2) of the telescopic rod is connected with the upper interface at the middle position of the fourth connecting rod (C-10) through a ball pair, the other end of the second connecting rod (B1-3) of the telescopic rod is connected with the upper interface at the position 4(C-1-IV) of the first connecting rod (C-1) through a ball pair, the other end of the third connecting rod (B1-4) of the telescopic rod is connected with the upper interface at the middle position of the second connecting rod (C-4) through a ball pair, and the other end of the fourth connecting rod (B1-5) of the telescopic rod is connected with the upper interface at the position 4(C-7-IV) of the third connecting rod (C-7) through a ball pair; the external connection mode of the second telescopic mechanism (B2) and the first telescopic mechanism (B1) is completely the same, and the difference of the connection positions is that the outer end of a telescopic rod connecting rod in the second telescopic mechanism (B2) is respectively connected with the lower interfaces at the middle positions of a first connecting rod (C-1), a second connecting rod (C-4), a third connecting rod (C-7) and a fourth connecting rod (C-10) through a ball pair;
a first connecting rod (C-1) is fixedly connected with one end of a first torsion spring (C-2) at a position 3(C-1-III), is fixedly connected with one end of a fourth torsion spring (C-12) at a position 5(C-1-V), is rotatably connected with one end of a first connecting frame (C3) at a position 1(C-1-I) and is rotatably connected with one end of a fourth connecting frame (C-11) at a position 7(C-1-VII), and the rotating connecting axes of the two positions are vertical; the third connecting rod (C-7), the second torsion spring (C-6), the third torsion spring (C-8), the second connecting frame (C-5) and the third connecting frame (C-9) are completely the same as the first connecting rod (C-1), the first torsion spring (C-2), the fourth torsion spring (C-12), the first connecting frame (C3) and the fourth connecting frame (C-11) in connection mode and are symmetrically arranged about the center of the frame;
the left end of the second connecting rod (C-4) is rotatably connected with the other end of the first connecting frame (C-3), the right end of the second connecting rod is rotatably connected with the other end of the second connecting frame (C-5), and the two rotary connecting axes are vertical; the fourth connecting rod (C-10), the third connecting frame (C-9) and the fourth connecting frame (C-11) are completely the same as the second connecting rod (C-4), the first connecting frame (C-3) and the second connecting frame (C-5) in connection mode and are symmetrically arranged around the center of the frame;
the other end of the first torsion spring (C-2) is fixedly connected with the second wheel mechanism (A2), the other end of the fourth torsion spring (C-12) is fixedly connected with the first wheel mechanism (A1), the other end of the second torsion spring (C-6) is fixedly connected with the third wheel mechanism (A3), and the other end of the third torsion spring (C-8) is fixedly connected with the fourth wheel mechanism (A4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111094620.2A CN113696972B (en) | 2021-09-17 | 2021-09-17 | Four-wheeled robot with deformable vehicle body |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111094620.2A CN113696972B (en) | 2021-09-17 | 2021-09-17 | Four-wheeled robot with deformable vehicle body |
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| Publication Number | Publication Date |
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| CN113696972A CN113696972A (en) | 2021-11-26 |
| CN113696972B true CN113696972B (en) | 2022-07-22 |
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| CN1546289A (en) * | 2003-12-04 | 2004-11-17 | 北京航空航天大学 | Variant structure leg wheeled exploration robot |
| CN111086562A (en) * | 2020-01-16 | 2020-05-01 | 北京交通大学 | Four-wheel robot with scalable vehicle body |
| CN112440647A (en) * | 2020-12-04 | 2021-03-05 | 应急管理部天津消防研究所 | Mobile robot chassis with suspension structure |
| CN112849300A (en) * | 2021-01-28 | 2021-05-28 | 北京建筑大学 | Multi-mode deformable wheel type moving mechanism |
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2021
- 2021-09-17 CN CN202111094620.2A patent/CN113696972B/en active Active
Patent Citations (6)
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|---|---|---|---|---|
| JPH02109785A (en) * | 1988-10-17 | 1990-04-23 | Iseki & Co Ltd | Tractor |
| US5927423A (en) * | 1997-03-05 | 1999-07-27 | Massachusetts Institute Of Technology | Reconfigurable footprint mechanism for omnidirectional vehicles |
| CN1546289A (en) * | 2003-12-04 | 2004-11-17 | 北京航空航天大学 | Variant structure leg wheeled exploration robot |
| CN111086562A (en) * | 2020-01-16 | 2020-05-01 | 北京交通大学 | Four-wheel robot with scalable vehicle body |
| CN112440647A (en) * | 2020-12-04 | 2021-03-05 | 应急管理部天津消防研究所 | Mobile robot chassis with suspension structure |
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