CN101992468B - Wheel-leg moving mechanism for mobile robot - Google Patents
Wheel-leg moving mechanism for mobile robot Download PDFInfo
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- CN101992468B CN101992468B CN2009100132936A CN200910013293A CN101992468B CN 101992468 B CN101992468 B CN 101992468B CN 2009100132936 A CN2009100132936 A CN 2009100132936A CN 200910013293 A CN200910013293 A CN 200910013293A CN 101992468 B CN101992468 B CN 101992468B
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Abstract
The invention relates to a wheel-leg moving mechanism for a mobile robot, which belongs to the technical field of advanced manufacture and automation. The wheel-leg moving mechanism comprises a leg swinging mechanism, two vibration absorption mechanisms and a driving wheel, wherein one side of each swinging leg of the leg swinging mechanism is connected with the driving wheel, the other side thereof is connected with one end of each vibration absorption mechanism, the two vibration absorption mechanisms are symmetrically arranged at both sides of the swinging legs along the center line of the leg swinging mechanism, in addition, the other end of each vibration absorption mechanism is connected to a transverse plate arranged on the leg swinging mechanism. The wheel-leg moving mechanism of the invention can be applied to any one proper robot body, and the application quantity and the position can be set as required. Through the connection of the leg swinging mechanism to the vibration absorption mechanisms and the driving wheel, the swinging legs can be actively rotated, the driving wheel can run over an obstacle through the vibration absorption mechanisms, and the driving wheel passively adapts to the tiny change of the ground under the effect of the vibration absorption mechanisms so that the ground applicability of the moving mechanism is enhanced, the moving function can be realized through only using the driving wheel structure when the ground is relatively even, and the structure is flexible.
Description
Technical field
The invention belongs to advanced manufacturing and technical field of automation, specifically a kind of wheel-leg travel mechanism that is used for the mobile robot.
Technical background
Along with the continuous development of automatic technology, mobile robot's application more and more widely, various ways such as that mobile robot's important component part travel mechanism has is wheeled, crawler type, wheel-leg-crawler are compound.But initiatively obstacle detouring, again can passive adaptation ground minor variations wheel-leg travel mechanism do not see application.Progressively go deep into along with what the mobile robot used, develop a kind of active and passive combining, be applicable to that the travel mechanism of multiple landform has very big necessity.This travel mechanism can be applied to multiple robot body, and with respect to the mobile robot who initiatively adapts to ground or passive adaptation ground, its ground adaptability is more perfect.
Summary of the invention
The object of the present invention is to provide a kind of initiatively obstacle detouring, again can passive adaptation ground minor variations wheel one leg travel mechanism; It can initiatively change and leads leg, surmounts obstacles, also can be under the effect of damping, adapt to the minor variations on ground passively.
To achieve these goals, technical scheme of the present invention is following:
The present invention includes swinging kick mechanism, damping and driving wheel; The side of leading leg of said swinging kick mechanism is connected with driving wheel; Opposite side connects an end of damping; Said damping is two, be symmetrically set in the both sides of leading leg along the center line of swinging kick mechanism, and the other end of damping is connected on the transverse slat of swinging kick mechanism.
Swinging kick of the present invention mechanism comprises swinging kick driving mechanism, transverse slat, swinging axle, bearing, leads leg, end cap and potentiometer; One end of leading leg is installed on the swinging axle through bearing; Swinging axle one end is through transverse slat and the swinging kick driving mechanism output connection that is used to be connected robot; The other end is provided with and the contacted boss dish of bearing, and potentiometric standing part is connected with swinging axle, and rotating part is connected with end cap.Wherein said leading leg is hollow structure; The one of which end has axis hole, and the other end has second ring flange, and two ends are the column type structure of semi arch; Its axis hole matches with said swinging axle, and the bilateral symmetry of column type has second installing hole that is used to install damping on said second ring flange.Described transverse slat one side is that the centre has first ring flange; Two ends have the template structure of first installing hole; The flange plate structure of opposite side for matching with swinging kick driving mechanism output; First installing hole at its two ends respectively with two dampings on the axle the 3rd ring flange is connected, the centre first ring flange be connected with the ring flange end of swinging axle.Described swinging axle one end has groove, the flange plate structure of the other end for matching with transverse slat first ring flange.Described potentiometer standing part is to be connected with swinging axle through the potentiometer fixed flange that the boss dish links to each other, and rotating part is through being connected with end cap with the 5th ring flange that it matches.Described potentiometer fixed flange one end has circular hole, and an end is the opening trench structure, and opening grooved end is flange plate structure, and its circular hole cooperates with potentiometric stiff end.
Described damping comprises axle, lower shaft, upper bearing (metal), lower bearing, upper supporting column, lower supporting rod, goes up hook, lower draw-bar, elastic damping element, copper sheathing, limiting plate, limited post, top bearing cover and lower bearing end cap, and upper and lower pillar is installed on the upper and lower axle through upper and lower bearing respectively, and upper and lower pillar inside all has cavity; In the cavity of upper supporting column, be provided with copper sheathing, in the cavity of lower supporting rod, be provided with limited post, the said limited post other end has boss; Place in the copper sheathing; And move up and down along the copper sheathing inwall, being provided with limiting plate at upper supporting column and copper sheathing end, said limiting plate inwall and limited post outer wall are sliding matching structure; Elastic damping element places in copper sheathing and the limited post; Two ends place upper and lower pillar inner through upper and lower hook respectively, and upper and lower axle all at one end is connected with ring flange, and the other end is provided with bearing (ball) cover; And the relative damping of upper and lower axle construction center symmetry, upper and lower bearing (ball) cover respectively with upper and lower pillar bolt.
Described driving wheel comprises motor reducer assembly, fixed flange and wheel; The motor reducer assembly is positioned at the inside of fixed flange; Its output passes fixed flange and is connected with wheel; Stiff end is connected with an end of fixed flange, and the other end of fixed flange is connected with the outside that swinging kick mechanism leads leg.Wherein said fixed flange is that an end has the hole, and the other end is the opening trench structure, matches with the output of motor reducer assembly in said hole, and the open slot end matches with the stiff end of motor reducer assembly.
The present invention has following advantage:
1. be widely used.The present invention's wheel-leg travel mechanism can be applied to a suitable robot body arbitrarily, and number of applications and position can be set as required.
2. adaptability is strong.The present invention's wheel-leg travel mechanism connects damping and driving wheel through swinging kick mechanism; Can active rotation lead leg, driving wheel surmounted obstacles through damping; Also can be under the effect of damping; Driving wheel adapts to the minor variations on ground passively, and the ground adaptability of travel mechanism is strengthened.
3. structure is flexible.The present invention's wheel-leg travel mechanism is when adapting to complex-terrain, and is with the obvious advantage; The complex structure that just seems during relatively flat on ground, but can be only with its driving wheel structure, simple structure just can realize motor function, so structure is flexible.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the front view of Fig. 1.
Fig. 3 is the left view of Fig. 1.
Fig. 4 is the structural representation of swinging kick mechanism among Fig. 1.
Fig. 5 is the left view of Fig. 4.
The structural representation of Fig. 6 for leading leg among Fig. 4.
Fig. 7 is the structural representation of damping among Fig. 1.
Fig. 8 is the structure knot sketch map of driving wheel among Fig. 1.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done further explain.
Embodiment: like Fig. 1, Fig. 2, shown in Figure 3; The present invention includes swinging kick mechanism 2, damping 1 and driving wheel 3; 10 1 sides of leading leg of said swinging kick mechanism 2 are connected with driving wheel 3, and opposite side connects an end of damping 1, and said damping 1 is two; Center line along swinging kick mechanism 2 is symmetrically set in 10 both sides of leading leg, and the other end of two dampings 1 is connected in respectively on the transverse slat 5 of swinging kick mechanism 2.
Like Fig. 3---shown in Figure 6; Described swinging kick mechanism 2 comprises swinging kick driving mechanism 4, transverse slat 5, swinging axle 6, bearing 7, lead leg 10, end cap 8 and potentiometer 9; 10 the end of leading leg is installed on the swinging axle 6 through bearing 7, swinging axle 6 one ends through transverse slat 5 and swinging kick driving mechanism 4 outputs that are used to be connected robot connect, the other end is provided with and the contacted boss dish 31 of bearing; The standing part of potentiometer 9 is connected with swinging axle 6, and rotating part is connected with end cap 8.
Like Fig. 3---shown in Figure 6; Describedly lead leg 10 for hollow structure; The one of which end has axis hole 26, and the other end has second ring flange 27, and two ends are the column type structure of semi arch; Its axis hole 26 matches with said swinging axle 6; The bilateral symmetry of column type has second installing hole 28 that is used to install damping 1 on said second ring flange 27, through four ring flange 34 bolts of second installing hole 28 with damping 1 lower shaft 19, fixed flange 23 bolts of said second ring flange, 27 outsides and driving wheel 3.Described transverse slat 5 one sides are that the centre has first ring flange 29; Two ends have the template structure of first installing hole 36; The flange plate structure of opposite side for matching with swinging kick driving mechanism 4 outputs; First installing hole 36 at its two ends respectively with the 3rd ring flange 32 bolts of going up axle 11 of two dampings 1, the first middle ring flange 29 is used for the ring flange end bolt with swinging axle 6.Described swinging axle 6 one ends have groove, the flange plate structure of the other end for matching with first ring flange 29 of transverse slat 5.These routine potentiometer 9 models are 7276, and described potentiometer 9 standing parts are to be connected with the groove ends of swinging axle 6 through the potentiometer fixed flanges 30 that boss dish 31 links to each other, and rotating part is through being connected with end cap 8 with the 5th ring flange 38 that it matches.Said potentiometer fixed flange 30 1 ends have circular hole, and an end is the opening trench structure, and openend is flange plate structure, and its circular hole cooperates with the stiff end of potentiometer 9, and the end cap 8 that is connected with 10 ends of leading leg is set in potentiometer fixed flange 30 peripheries; Its 5th ring flange 38 1 ends are the structure that matches and be connected with end cap 8, the structure of an end for matching with potentiometer 9 rotating parts.Described swinging kick driving mechanism 4 is that motor-reductor combination drives.Lead leg 10 under the support of bearing 7 around swinging axle 6 swing, potentiometer 9 is used to measure 10 anglecs of rotation with respect to transverse slat 5 of leading leg.
As shown in Figure 7; Described damping 1 comprise axle 11, lower shaft 19, upper bearing (metal) 12, lower bearing 20, upper supporting column 13, lower supporting rod 18, on link up with 21, lower draw-bar 25, elastic damping element 14, copper sheathing 15, limiting plate 16, limited post 17, top bearing cover 33 and lower bearing end cap 35; Upper and lower pillar 13,18 is installed on the upper and lower axle 11,19 through upper and lower bearing 12,20 respectively; Upper and lower pillar 13,18 inside all have cavity, in the cavity of upper supporting column 13, are provided with copper sheathing 15, in the cavity of lower supporting rod 18, are provided with limited post 17; Said limited post 17 other ends have boss 39; And place in the copper sheathing 15, can move up and down along copper sheathing 15 inwalls, be connected with limiting plate 16 at upper supporting column 13 and copper sheathing 15 ends through bolt; Said limiting plate 16 inwalls and limited post 17 outer walls are sliding matching structure; Elastic damping element 14 places in copper sheathing 15 and the limited post 17, and two ends place upper and lower pillar 13,18 inside through upper and lower hook 21,25 respectively, and these routine upper and lower hook 21,25 bolts are in upper and lower pillar 13,18; Upper and lower axle 11,19 all at one end is provided with ring flange, and the other end is connected with bearing (ball) cover, and the relative damping of upper and lower axle construction 1 center symmetry, upper and lower bearing (ball) cover 33,35 respectively with upper and lower pillar 13,18 bolts.End cap 8 sides with swinging kick mechanism 2 are the outside; The 3rd ring flange 32 sides of last axle 11 are the inboard of damping 1; First installing hole, 36 bolts with the transverse slat 5 of swinging kick mechanism 2; The 4th ring flange 34 sides of lower shaft 19 are the outside of damping 1, with second installing hole, 28 bolts of 10 ends of leading leg of swing mechanism 2.Elastic damping element 14 is the location under the effect of last hook 21 and lower draw-bar 25; Damping 1 elongates or shortens, and promptly parallel upward axle 11 and the distance between the lower shaft 19 become big or diminish, the length variations of elastic damping element 14, and the boss 39 of limited post 17 is mobile in copper sheathing 15.
As shown in Figure 8; Described driving wheel 3 comprises motor reducer assembly 22, fixed flange 23 and wheel 24; Motor reducer assembly 22 is positioned at the inside of fixed flange 23, and its output passes fixed flange 23 and wheel 24 bolts, an end bolt of stiff end and fixed flange 23; Lead leg 10 outside bolt of the other end of fixed flange 23 and swinging kick mechanism 2.Described fixed flange 23 is that an end has the hole, and the other end is the opening trench structure, matches with the output of motor reducer assembly 22 in said hole, and the open slot end matches with the stiff end of motor reducer assembly.Be convenient and connect, be built-in with rebound 37 at the open slot of fixed flange 23, be connected with the stiff end of motor reducer assembly 22 through rebound 37 and open slot port, the output drive wheels 24 of motor reducer assembly 22 is rotated.
Operation principle of the present invention is: swinging kick driving mechanism 4 drives the axis swing of transverse slat 5 around the swinging axle 6 of swinging kick mechanism 2; Damping 1 elongates or shortens under the drive of transverse slat 5; Thereby drive 10 active roll of leading leg of swinging kick mechanism 2; Through the 10 drive driving wheels 3 of leading leg, driving wheel 3 is surmounted obstacles; When the ground height had minor variations, what damping 1 can be passive elongated or shortened, and leading leg of swinging kick mechanism 2 10 is passive swing, the minor variations on the adaptation ground that the driving wheel 3 that links to each other with swinging kick mechanism 2 just can be passive, steadily walking.
Connected mode in this example all adopts bolt, also can adopt other connected mode.
The present invention can be applied to a suitable robot body arbitrarily, and number of applications and position can be set as required.When with a varied topography, wheel-leg travel mechanism can active roll leads leg 10, through damping 1 driving wheel 3 is surmounted obstacles; Also can be only under the effect of damping 1, driving wheel 3 adapts to the minor variations on ground passively.During relatively flat, can make simple structure just can realize motor function on ground at the driving wheel 3 that is fit to robot body on application wheel-leg travel mechanism.
Claims (3)
1. wheel-leg travel mechanism that is used for the mobile robot; It is characterized in that: comprise swinging kick mechanism, damping and driving wheel; The side of leading leg of said swinging kick mechanism is connected with driving wheel, and opposite side connects an end of damping, and said damping is two; Center line along swinging kick mechanism is symmetrically set in the both sides of leading leg, and the other end of damping is connected on the transverse slat of swinging kick mechanism;
Described swinging kick mechanism comprises swinging kick driving mechanism, transverse slat, swinging axle, bearing, leads leg, end cap and potentiometer; One end of leading leg is installed on the swinging axle through bearing; Swinging axle one end is through transverse slat and the swinging kick driving mechanism output connection that is used to be connected robot; The other end is provided with and the contacted boss dish of bearing, and potentiometric standing part is connected with swinging axle, and rotating part is connected with end cap;
Described leading leg is hollow structure; The one of which end has axis hole, and the other end has second ring flange, and two ends are the column type structure of semi arch; Its axis hole matches with said swinging axle; The bilateral symmetry of column type has second installing hole that is used to install damping on said second ring flange, through the 4th ring flange bolt of second installing hole and damping lower shaft, and the fixed flange bolt of said second ring flange outside and driving wheel;
Described transverse slat one side is that the centre has first ring flange; Two ends have the template structure of first installing hole; The flange plate structure of opposite side for matching with swinging kick driving mechanism output; First installing hole at its two ends respectively with two dampings on the 3rd ring flange of axle be connected, in first ring flange of asking be connected with the ring flange end of swinging axle;
Described swinging axle one end has groove, the flange plate structure of the other end for matching with transverse slat first ring flange;
Described potentiometer standing part is to be connected with swinging axle through the potentiometer fixed flange that the boss dish links to each other, and rotating part is through being connected with end cap with the 5th ring flange that it matches; Described potentiometer fixed flange one end has circular hole, and an end is the opening trench structure, and opening grooved end is flange plate structure, and its circular hole cooperates with potentiometric stiff end;
Described damping comprises axle, lower shaft, upper bearing (metal), lower bearing, upper supporting column, lower supporting rod, goes up hook, lower draw-bar, elastic damping element, copper sheathing, limiting plate, limited post, top bearing cover and lower bearing end cap, and upper and lower pillar is installed on the upper and lower axle through upper and lower bearing respectively, and upper and lower pillar inside all has cavity; In the cavity of upper supporting column, be provided with copper sheathing, in the cavity of lower supporting rod, be provided with limited post, the said limited post other end has boss; Place in the copper sheathing; And can move up and down along the copper sheathing inwall, being provided with limiting plate at upper supporting column and copper sheathing end, said limiting plate inwall and limited post outer wall are sliding matching structure; Elastic damping element places in copper sheathing and the limited post; Two ends place upper and lower pillar inner through upper and lower hook respectively, and upper and lower axle all at one end is connected with ring flange, and the other end is provided with bearing (ball) cover; And the relative damping of upper and lower axle construction center symmetry, upper and lower bearing (ball) cover respectively with upper and lower pillar bolt.
2. according to the described wheel-leg travel mechanism that is used for the mobile robot of claim 1; It is characterized in that: described driving wheel comprises motor reducer assembly, fixed flange and wheel; The motor reducer assembly is positioned at the inside of fixed flange; Its output passes fixed flange and is connected with wheel, and stiff end is connected with an end of fixed flange, and the other end of fixed flange is connected with the outside that swinging kick mechanism leads leg.
3. according to the described wheel-leg travel mechanism that is used for the mobile robot of claim 2; It is characterized in that: described fixed flange is that an end has the hole; The other end is the opening trench structure; Match with the output of motor reducer assembly in said hole, the open slot end matches with the stiff end of motor reducer assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100132936A CN101992468B (en) | 2009-08-21 | 2009-08-21 | Wheel-leg moving mechanism for mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100132936A CN101992468B (en) | 2009-08-21 | 2009-08-21 | Wheel-leg moving mechanism for mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN101992468A CN101992468A (en) | 2011-03-30 |
| CN101992468B true CN101992468B (en) | 2012-03-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009100132936A Expired - Fee Related CN101992468B (en) | 2009-08-21 | 2009-08-21 | Wheel-leg moving mechanism for mobile robot |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1546289A (en) * | 2003-12-04 | 2004-11-17 | 北京航空航天大学 | Variant structure leg wheeled exploration robot |
| CN2841272Y (en) * | 2005-09-12 | 2006-11-29 | 中国科学技术大学 | Composite moving mechanism of autonomous obstacle-surmounting robot |
| CN1944159A (en) * | 2006-10-30 | 2007-04-11 | 中国农业大学 | Mechanical booster walking system |
| CN201442265U (en) * | 2009-08-21 | 2010-04-28 | 中国科学院沈阳自动化研究所 | Wheel-leg moving mechanism used for moving robot |
-
2009
- 2009-08-21 CN CN2009100132936A patent/CN101992468B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1546289A (en) * | 2003-12-04 | 2004-11-17 | 北京航空航天大学 | Variant structure leg wheeled exploration robot |
| CN2841272Y (en) * | 2005-09-12 | 2006-11-29 | 中国科学技术大学 | Composite moving mechanism of autonomous obstacle-surmounting robot |
| CN1944159A (en) * | 2006-10-30 | 2007-04-11 | 中国农业大学 | Mechanical booster walking system |
| CN201442265U (en) * | 2009-08-21 | 2010-04-28 | 中国科学院沈阳自动化研究所 | Wheel-leg moving mechanism used for moving robot |
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| CN101992468A (en) | 2011-03-30 |
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Granted publication date: 20120328 Termination date: 20180821 |