CN101224764B - Dual-purpose robot with bionical wheel and foot - Google Patents
Dual-purpose robot with bionical wheel and foot Download PDFInfo
- Publication number
- CN101224764B CN101224764B CN2008100573991A CN200810057399A CN101224764B CN 101224764 B CN101224764 B CN 101224764B CN 2008100573991 A CN2008100573991 A CN 2008100573991A CN 200810057399 A CN200810057399 A CN 200810057399A CN 101224764 B CN101224764 B CN 101224764B
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- thigh
- wheel
- shank
- leg
- length
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 68
- 210000002414 leg Anatomy 0.000 claims abstract description 49
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 19
- 210000001699 lower leg Anatomy 0.000 abstract description 36
- 239000011664 nicotinic acid Substances 0.000 abstract 1
- 244000309464 bull Species 0.000 description 21
- 230000033001 locomotion Effects 0.000 description 7
- 241000124008 Mammalia Species 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 2
- 210000001694 thigh bone Anatomy 0.000 description 2
- 230000000386 athletic effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The invention belongs to a bionic robot which has simple structure, strong landform adaptability and multiple functions and uses both wheels and feet. The technical proposal of the invention is that the invention comprises a robot body and is characterized in that a front leg and a back leg which consist of a thigh and a crus are symmetrically arranged at two sides of the robot body, the thigh of the front leg is longer than the crus of the front leg, and the thigh of the back leg is shorter than the crus of the back leg; a primary driver motor is arranged inside the robot body, the thigh and one wheel of the front leg and the back leg are connected with a driver shaft of the primary driver motor, a secondary driver motor is arranged on the thigh, and a driver shaft of the secondary driver motor is connected with the other wheel and the crus of the thigh; wheels are arranged in the crus rear, and the following rotation or the rotation halt of the wheels are controlled by an electromagnetic brake. The length of a short connecting rod of the front thigh or the back crus is half the length of a long connecting rod of the front crus or the back thigh, and the length of the long connecting rod is the diameter of the wheel arranged in the crus rear plus the diameter of a wheel arranged on the thigh plus the inter-wheel gap.
Description
Technical field
The invention belongs to the robot device field, especially a kind of dual-purpose robot with bionical wheel and foot.
Background technology
It is uniform that mobile robot's leg is generally isostructure, no matter is wheeled or prosthetic robot, and the structure of its each bar leg is identical usually with size, helps design and control like this, also helps modularization.Though but normally being symmetrically distributed at the leg of occurring in nature biology, the size of its leg, structure and function are not quite similar on diverse location.Therefore press for a kind of simple in structure, the landform comformability strong, the robot architecture of diverse in function.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, propose that a kind of simple in structure, landform comformability is strong, the dual-purpose robot with bionical wheel and foot of diverse in function.This robot imitation mammal leg skeleton, employing wheel leg guarantee that in conjunction with mode of motion, modular design concept robot is quick, flexible motion.
To achieve these goals, the present invention has taked following technical scheme: dual-purpose robot with bionical wheel and foot, comprise vehicle body, it is characterized in that being symmetrically arranged with respectively foreleg of forming by thigh and shank and the back leg of forming by thigh and shank in the vehicle body both sides, the thigh length of described foreleg is longer than the shank length of foreleg, the thigh length of back leg is shorter than the shank length of back leg, be respectively arranged with two wheels on the described thigh, in car body, be provided with first order drive motor, a wheel in the thigh of described foreleg and back leg and described two wheels links to each other with first order drive motor axle drive shaft respectively, select to drive a described wheel or thigh by clutch control, described thigh is provided with second stage drive motor, the axle drive shaft of described second stage drive motor is connected with shank with another wheel of thigh, selects to drive described another wheel or shank by clutch control; The shank end is provided with wheel, and the diameter of the terminal wheel of described shank is less than the diameter of thigh wheel, and the wheel of shank end is provided with electromagnetic brake to control it with changeing or spline.
The diameter of two wheels that are provided with on the described thigh is identical.
The short connecting rod length of the thigh of described foreleg or the shank of back leg is half of long connecting rod length of the thigh of the shank of foreleg or back leg, and the terminal wheel diameter that is provided with of shank adds that the gap is described long connecting rod length between the wheel diameter that is provided with on the thigh and wheel.
Effect of the present invention is: form four robot legs by the foreleg of car body and two little short legs of thigh length and the back leg of two short leg lengths of thigh among the present invention; Article four, the first order power of leg is linked to each other with thigh by output in the car body, selects to drive first bull wheel or thigh by clutch control; Second stage power input is arranged on the thigh and links to each other with shank, also has clutch control to select to drive second bull wheel or shank; The robot foot of shank end is a passive steamboat, has electromagnetic brake to control it with changeing or spline.Dual-purpose mobile robot of wheel and foot shank imitation mammal thigh bone structure of the present invention.Adopt the folding characteristics of biological leg to design each joint ratio, making short connecting rod length is half of long connecting rod length, and gap size is a long connecting rod length between steamboat enlarged diameter wheel diameter and wheel, guarantees the compactedness of structure; Consider foreleg simultaneously as attitude, direction control, the structure of thigh length, little short legs before adopting retreats as having an effect leg, for guaranteeing that robot advances fast, adopts the structure of the big short legs in back, leg length.This robot can have that compact is wheeled, extended pattern is wheeled, puts big leg wheel type, the multiple mode of motion of articulated type, compact conformation, motion flexibly, the ground comformability is strong, and moving velocity is fast, helps reducing waste of power at extreme terrain conversion athletic posture.Adopt the dual-purpose leg module of wheel foot, both saved energy consumption and structure space, can make robot have functions such as quick assembling, displacement, reparation again.
The present invention is described further below in conjunction with drawings and Examples.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is power-transfer clutch of the present invention and big wheel hub and long connecting rod connecting bridge part sectional view;
Fig. 3 is the 3D solid figure of schematic diagram behind a left side before of the present invention the hiding, rear right-leg and the car shell
Fig. 4 is the wheeled structural representation when mobile of extended pattern of the present invention;
Structural representation when Fig. 5 moves for the big leg wheel type of support of the present invention;
Structural representation when Fig. 6 moves for articulated type of the present invention;
Structural representation when Fig. 7 moves for articulated type of the present invention.
Among the figure: vehicle body 1, preceding left leg 2, preceding left thigh leg 3, back left leg 4, back right thigh 5, right second bull wheel 6 in back, right first bull wheel 7 in back, the right steamboat 8 in back, preceding right first bull wheel 9, preceding right steamboat 10, preceding right second bull wheel 11, power-transfer clutch first driven disc 12, power-transfer clutch main body 13, power-transfer clutch second driven disc 14, the 7th bearing mounting hole 15, long connecting rod and clutch driven disk connecting thread hole 16, built-in camera 17, preceding left first motor mount 18, preceding left first motor 19, preceding left first motor driver 20, battery 21 in the car, car-mounted computer 22, right first change-speed box 23 in back, right first plunging joint 24 in back, the right clutch shaft bearing 25 in back, the right primary shaft bearing 26 in back.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
Among Fig. 1, dual-purpose robot with bionical wheel and foot, comprise vehicle body 1, left leg 2, preceding left thigh 3, back left leg 4, back right thigh 5, right second bull wheel 6 in back, right first bull wheel 7 in back, the right steamboat 8 in back, preceding right first bull wheel 9, preceding right steamboat 10, preceding right second bull wheel 11 before the both sides of vehicle body are respectively arranged with.
Among Fig. 2, power-transfer clutch first driven disc 12, power-transfer clutch main body 13, power-transfer clutch second driven disc 14, the 7th bearing mounting hole 15, long connecting rod and clutch driven disk connecting thread hole 16, built-in camera 17.
Among Fig. 3, battery 21, car-mounted computer 22, right first change-speed box 23 in back, right first plunging joint 24 in back, the right clutch shaft bearing 25 in back, the right primary shaft bearing 26 in back in preceding left first motor mount 18, preceding left first motor 19, preceding left first motor driver 20, the car.
Article four, the first order power 19 of leg spreads out of in by car body after change-speed box 23 slows down and links to each other with the main body 14 of first clutch, and thigh 3,5 all links to each other by bearing and first clutch are coaxial with first bull wheel 7,9, second driven disc 15 of first clutch links to each other with thigh 3,5, first driven disc 13 links to each other with first bull wheel 7,9, select by first clutch control clutch driven disc, power-transfer clutch second driven disc links to each other with thigh, first driven disc links to each other with wheel, drives the thigh 3,5 or first bull wheel 7,9; Second stage power input is fixed on the thigh 3,5, after turning to, deceleration links to each other with second clutch main body 14, and shank 2,4 all links to each other by bearing and second clutch are coaxial with second bull wheel 6,11, second driven disc 15 of second clutch links to each other with shank 2,4, first driven disc 13 links to each other with second bull wheel 6,11, and second clutch control clutch driven disc selects to drive the shank 2,4 or second bull wheel 6,11; The robot foot of shank 2,4 ends is a passive steamboat 8,10, has electromagnetic brake to control it with changeing or spline, and electromagnetic brake is coaxial with steamboat and link to each other with steamboat.Dual-purpose mobile robot of wheel and foot shank imitation mammal thigh bone structure of the present invention.Adopt the folding characteristics of biological leg to design each joint ratio, making short connecting rod length is half of long connecting rod length, and gap size is a long connecting rod length between steamboat enlarged diameter wheel diameter and wheel, guarantees the compactedness of structure; Consider foreleg simultaneously as attitude, direction control, the short structure of 3 long, the shank of thigh 2 retreats as having an effect leg before adopting, the structure that for guaranteeing that robot advances fast, adopt that the back thigh is 5 short, shank 4 is long.
Four legs are arranged in robot body 1 bilateral symmetry when design, and front and back thigh 3,5 roots and car body 1 connection location postposition, thigh 3 is anteflexion before under compact mode, bend preceding shank 2 backs, back thigh 5 is anteflexion, bend gaskin 6 backs, and two long connecting rods of leg just are distributed on the car body both sides before and after this moment, guarantees that compact overall structure and center of gravity are placed in the middle.Article four, the rotation axis of leg first order power input is at half place of car body 1 thickness.
As Fig. 1, shown in Figure 4, when robot moved as wheeled carriage, bull wheel and steamboat were all tangent with ground respectively, and two kinds of state of kinematic motions of compact and extended pattern can be arranged.First power torque of this moment of output in the car body 1 is passed to first bull wheel 7,9 by first clutch and is done and pivot; Passing to second clutch after second motor output torque of settling in thigh 3,5 turns to by deceleration drives second bull wheel 6,11 and does and pivot; Steamboat 8,10 servo-actuateds.Compact conformation when shank 2,4 rounding states, the quick travel of suitable flat road; Open shank 2,4 one-tenth extended configurations, can enlarge robot chassis area this moment, helps robot architecture's stability, is applicable to that the assurance robot was not toppled over when rugged complex road surface moved.
As shown in Figure 5, robot leg also is to use as wheel and joint simultaneously, raises car body 1 chassis after thigh 3,5 is propped, second bull wheel 6,11 and ground are tangent, pendulum thigh and dead beat thigh dual mode can be arranged, pendulum thigh when the big leg joint of motor-driven sways, thigh dead beat when motor does not change.First power torque of this moment of output in the car body 1 by first clutch pass to thigh 3,5 do the swinging kick campaign or with 1 one-tenth fixed angle of robot body, pass to second clutch after second motor output torque of settling turns to by deceleration and drive second bull wheel 6,11 in thigh 3,5 and do and pivot, passive steamboat 8,10 and ground are tangent, paddle, when walking in muddy, sand ground or the snowfield, both help improving robot body, and can guarantee the balance of robot again.
As Fig. 6, shown in Figure 7, robot leg is fully as four-footed articulated type moveable robot movement.Pass to thigh 3,5 from first power torque of car body 1 interior output by first clutch and do the swinging kick campaign this moment, motor changes big leg joint and just sways, thereby thigh swing, pass to second clutch after second motor output torque of settling turns to by deceleration and select to drive shank 2,4 motion that moves back and forth in thigh 3,5, electromagnetic brake energising makes steamboat 8,10 splines as foot, does intermittently crawling exercises or run under characteristics gait planning and control.
Claims (3)
1. dual-purpose robot with bionical wheel and foot, comprise vehicle body, it is characterized in that being symmetrically arranged with respectively foreleg of forming by thigh and shank and the back leg of forming by thigh and shank in the vehicle body both sides, the thigh length of described foreleg is longer than the shank length of foreleg, the thigh length of back leg is shorter than the shank length of back leg, be respectively arranged with two wheels on the described thigh, in car body, be provided with first order drive motor, a wheel in the thigh of described foreleg and back leg and described two wheels links to each other with first order drive motor axle drive shaft respectively, select to drive a described wheel or thigh by clutch control, described thigh is provided with second stage drive motor, the axle drive shaft of described second stage drive motor is connected with shank with another wheel of thigh, selects to drive described another wheel or shank by clutch control; The shank end is provided with wheel, and the diameter of the terminal wheel of described shank is less than the diameter of thigh wheel, and the wheel of shank end is provided with electromagnetic brake to control it with changeing or spline.
2. dual-purpose robot with bionical wheel and foot according to claim 1 is characterized in that the diameter of two wheels being provided with on the described thigh is identical.
3. bionical wheel and foot dual-purpose robot according to claim 1 and 2, the short connecting rod length that it is characterized in that the shank of the thigh of described foreleg or back leg is half of long connecting rod length of the thigh of the shank of foreleg or back leg, and the terminal wheel diameter that is provided with of shank adds that the gap is described long connecting rod length between the wheel diameter that is provided with on the thigh and wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100573991A CN101224764B (en) | 2008-02-01 | 2008-02-01 | Dual-purpose robot with bionical wheel and foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100573991A CN101224764B (en) | 2008-02-01 | 2008-02-01 | Dual-purpose robot with bionical wheel and foot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101224764A CN101224764A (en) | 2008-07-23 |
| CN101224764B true CN101224764B (en) | 2010-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2008100573991A Expired - Fee Related CN101224764B (en) | 2008-02-01 | 2008-02-01 | Dual-purpose robot with bionical wheel and foot |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009705B (en) * | 2010-11-11 | 2012-11-28 | 西北工业大学 | Self-reset wheel-leg jumping composite mobile robot |
| CN103802906B (en) * | 2014-02-19 | 2017-03-15 | 中国北方车辆研究所 | There is the portable wheeled mobile device of stepping propulsive mechanism |
| CN108482506A (en) * | 2018-02-09 | 2018-09-04 | 芜湖市海联机械设备有限公司 | A kind of changeable robot of wheel leg pattern |
| CN110304168A (en) * | 2019-07-16 | 2019-10-08 | 深圳市爱因派科技有限公司 | Novel wheel leg composite construction and four-leg bionic robot |
| CN111731405B (en) * | 2020-07-10 | 2023-12-01 | 腾讯科技（深圳）有限公司 | robot |
| CN113306644B (en) * | 2021-07-01 | 2022-06-07 | 北京理工大学 | Wheel leg mechanism and wheel leg type vehicle using same |
| CN117885830A (en) * | 2022-10-09 | 2024-04-16 | 东莞市本末科技有限公司 | Mechanical leg and robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6144180A (en) * | 1999-07-09 | 2000-11-07 | Chen; Chun-Ta | Mobile robot |
| CN1792698A (en) * | 2005-12-29 | 2006-06-28 | 上海交通大学 | Robot with multi-mode wheels |
| CN2825410Y (en) * | 2005-09-13 | 2006-10-11 | 北京航空航天大学 | Structure-variable leg-wheeled type robot |
-
2008
- 2008-02-01 CN CN2008100573991A patent/CN101224764B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6144180A (en) * | 1999-07-09 | 2000-11-07 | Chen; Chun-Ta | Mobile robot |
| CN2825410Y (en) * | 2005-09-13 | 2006-10-11 | 北京航空航天大学 | Structure-variable leg-wheeled type robot |
| CN1792698A (en) * | 2005-12-29 | 2006-06-28 | 上海交通大学 | Robot with multi-mode wheels |
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| CN101224764A (en) | 2008-07-23 |
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Effective date of registration: 20090821 Address after: Beijing 100084-82 mailbox code: 100084 Applicant after: Tsinghua University Co-applicant after: State Hongfeng Machinery Factory Address before: Beijing 100084-82 mailbox code: 100084 Applicant before: Tsinghua University |
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Address after: 100084 Beijing 100084-82 mailbox Patentee after: Tsinghua University Patentee after: Hubei Sanjiang Aerospace Hongfeng Control Co., Ltd. Address before: 100084 Beijing 100084-82 mailbox Patentee before: Tsinghua University Patentee before: State Hongfeng Machinery Factory |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20100908 Termination date: 20190201 |