CN102328703A - Six-bar bouncing combined-type wheel-leg mobile robot - Google Patents

Six-bar bouncing combined-type wheel-leg mobile robot Download PDF

Info

Publication number
CN102328703A
CN102328703A CN 201110197118 CN201110197118A CN102328703A CN 102328703 A CN102328703 A CN 102328703A CN 201110197118 CN201110197118 CN 201110197118 CN 201110197118 A CN201110197118 A CN 201110197118A CN 102328703 A CN102328703 A CN 102328703A
Authority
CN
China
Prior art keywords
wheel
swing arm
links
fixed
mainboard
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN 201110197118
Other languages
Chinese (zh)
Other versions
CN102328703B (en
Inventor
王宣银
向可
吕吉鑫
梁丹
富晓杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang University ZJU
Original Assignee
Zhejiang University ZJU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang University ZJU filed Critical Zhejiang University ZJU
Priority to CN 201110197118 priority Critical patent/CN102328703B/en
Publication of CN102328703A publication Critical patent/CN102328703A/en
Application granted granted Critical
Publication of CN102328703B publication Critical patent/CN102328703B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention discloses a six-bar bouncing combined-type wheel-leg mobile robot, which comprises a wheel-type moving mechanism, a bouncing mechanism, a front and rear swing arm mechanism and a holder mechanism. A six-bar rhombic nonlinear tension spring bouncing and locking mechanism is used, the bouncing height of the mobile robot is increased, the mechanism is prevented from bouncing in advance under the dual effects of oscillation in the spring and a non-rigid ground surface, and the requirement on a lock release mechanism is reduced. The front and rear swing arm mechanism adopts a structure of two front swing wheel legs and a single rear swing wheel leg. Since the swing arm shafts of the front and rear swing arm mechanism are not coaxial with wheels, the limitations to arm length are fewer, and the ability of crossing over ditches of the mobile robot is greatly enhanced. Besides, by adopting the design of the front and rear swing arm mechanism, the occupied space is few, and enough installation spaces are reserved for subsequent upgrade needs. An auto-resetting function and an obstacle leaping function can be realized. A charge coupled device (CCD) observation table is integrated with sensors for postures, positions, directions and the like and is installed in a holder which can be lifted up and lowered down. Under field natural environments, the environmental adaptability and the ability of crossing over obstacles are very high.

Description

Six bars are bounce mechanism combined takes turns the leg mobile robot
Technical field
The present invention relates to a kind of robot, relate to especially that a kind of six bars are bounce mechanism combined takes turns the leg mobile robot.
Background technology
The mobile robot rises since early fifties U.S. Barrett Electronicsgs company develops the first in the world platform automated guided vehicle system; As an important branch in the robotics, in danger such as home services, amusement, scientific investigation, space exploration, military weapon, fight against terrorism and violence, public safety and harsh environment, wide application prospect is arranged.
At present; The research of spring robot can be divided into two big types by main construction method: one type is from the spring-like movement of nature biotechnology, to obtain to inspire, and copys external form and functionally similar mechanism, realizes walking and spring simultaneously; Like mechanical cricket and mechanical cat etc., can be classified as bio-mechanism.Another kind of mode is exactly directly to utilize this method mechanism freedom of simple mechanism generation elastic force (for example centnifugal force, spring force etc.) few, and kinetic model is simple, implements relatively easy.Utilize simple spring device to produce elastic force and can be divided into linear pressure spring machine structure of spring and non-linear extension spring bouncing mechanism; The linear pressure spring machine structure of the spring that the spring robot generally adopts uses compression spring, though its mechanism is simple relatively; Dynamic model is simple relatively, realizes easily.But its reduction length is very limited, and is limited by own vol, thereby jumping height is limited, and being difficult to has raising again, and the motor utilization ratio is low, and energy conversion efficiency is low.
In addition, in the design of movable robot with wheel legs swing arm in the past, the mobile robot has adopted two forearm schemes; Its oscillating axle is coaxial with front-wheel; Can guarantee that so two forearms can realize 360 ° of rotations, but relative, such design causes its swing speed reduction gearing complicated unusually; Can increase the weight of robot greatly, and take valuable inner space.In addition, because the restriction of front and back wheel wheelbase, the length of two forearms has received very big restriction, and this has also reduced the ability that robot is crossed over the gully.
Summary of the invention
In order to overcome the problem that exists in the background technology, the object of the present invention is to provide that a kind of six bars are bounce mechanism combined takes turns the leg mobile robot, make it to have simple in structure; The activity flexible characteristic; And increase its jumping height, and improve the utilization ratio of motor, improve the ability in the leap gully of robot; Make it can adapt to various complex-terrains, realize from reset function and skip functionality.
The technical solution adopted for the present invention to solve the technical problems is:
The present invention in the both sides of mainboard respectively symmetry the near front wheel, left rear wheel, off front wheel and off hind wheel in the wheeled travel mechanism are installed, revolver drive motor and right wheel drive the motor motor flange through separately respectively are fixed in below the mainboard.The transmission shaft of the near front wheel is through the near front wheel bearing; Left front wheel shaft coupling bush links to each other with first belt wheel, and the transmission shaft of left rear wheel is through left rear wheel bearing, left back wheel shaft coupling bush; Second belt wheel links to each other with the revolver drive motor, and first belt wheel is connected through left belt conveyor with second belt wheel; The transmission shaft of off front wheel is through the off front wheel bearing; Right front wheel shaft coupling bush links to each other with right wheel drive motor with the 3rd belt wheel; The transmission shaft of off hind wheel is through the off hind wheel bearing, and right back wheel shaft coupling bush links to each other with four-tape wheel, and the 3rd belt wheel is connected through right belt conveyor with four-tape wheel; Big belt wheel is equipped with on screw rod top in the bouncing mechanism; The circular hole of main plate center position is passed in the bottom; After being fixed in the nut of top panel and being connected in the triggering sleeve of nut bottom; Contact with the catch gear that is fixed in lower faceplate, first guide rod and the 3rd guide rod top are fixed in the mainboard through being threaded, and the bottom is passed the top panel circular hole and is suspended from the lower faceplate top; Second guide rod and the 4th guide rod top are provided with boss; The guide rod spring is put between the groove of boss and top panel; And be fixed in the top panel; The bottom of second guide rod and the 4th guide rod is fixed in the lower faceplate through being threaded, and top panel links to each other with four connecting rods of lower faceplate through symmetry, and the upper and lower strut hinged place is fixed in through being connected cylinder in first main spring that front and back are symmetrically distributed and the two ends of second main spring; Bouncing mechanism motor upper end links to each other with the bouncing mechanism retarder; The bouncing mechanism motor encoder is equipped with in the lower end; The circular hole that the bouncing mechanism reducer shaft passes main plate center one side links to each other with small pulley; Small pulley links to each other through belt conveyor with described big belt wheel, and the top respectively is fixed with big pulley cover and small pulley lid; Rear-swing arm motor in the oscillating arm mechanisms is fixed in the top rearward position of mainboard through flange; Rear-swing arm retarder one end links to each other with the rear-swing arm motor; The other end links to each other with the rear-swing arm axle, and the rear-swing arm axle links to each other with the back connecting arm through the rear-swing arm sleeve, and back wabble wheel leg links to each other through the postbrachium connecting pin with the back connecting arm; The rear-swing arm motor encoder is fixed in rearward position above the mainboard through flange, links to each other with the rear-swing arm axle through the rear-swing arm adapter shaft; The front swing arm motor through flange be fixed in mainboard above the position of forward side; Front swing arm retarder one end links to each other with the front swing arm motor; The other end links to each other with the forward swing arm axle, and the forward swing arm axle links to each other with preceding connecting arm through the front swing arm sleeve, and the wabble wheel leg links to each other with preceding connecting arm through connecting pin respectively before the first preceding wabble wheel leg and second; The front swing arm motor encoder is fixed in forward position above the mainboard through flange, and links to each other with the forward swing arm axle through the front swing arm adapter shaft; Horizontal stage electric machine in the cradle head mechanism is fixed in the top middle part of mainboard through flange; The horizontal stage electric machine axle links to each other with lifting arm through the horizontal stage electric machine coupling bush; The horizontal stage electric machine potential device is fixed in middle part above the mainboard through flange, links to each other with lifting arm through The Cloud Terrace potential device coupling bush, The Cloud Terrace bearing sleeve; The lifting arm front end links to each other through the first The Cloud Terrace adapter shaft with the big pulley cover of bouncing mechanism, the tangent The Cloud Terrace pedestal of small pulley lid; The rear end of the auxilliary arm of The Cloud Terrace is fixed on the mainboard through auxilliary arm connecting pin, auxilliary arm flange; The auxilliary arm front end of The Cloud Terrace links to each other through the second The Cloud Terrace adapter shaft with the The Cloud Terrace pedestal, and the CCD measuring platform is installed on the The Cloud Terrace pedestal; Control circuit board is fixed in above the mainboard, the state of kinematic motion of control robot; Battery is fixed in the mainboard below, for dolly provides power source; The upper end cover of car body is symmetrically fixed on around the mainboard by four upper cover plates, and the rear side cover plate has rectangular opening, and rear-swing arm is rotated up and down; Two side cover plates are provided with bracing frame, and double-pendulum arms is put on the bracing frame before when cruising, can making, and the bottom end cover of car body is symmetrically fixed on the mainboard below by four lower covers; And a base plate is fixed in four lower cover belows; Have rectangular opening in the middle of the base plate, bouncing mechanism the latter half is stretched out, when spring, contact with ground.
Described a kind of six bars are bounce mechanism combined takes turns the leg mobile robot, it is characterized in that the blocking device in the described bouncing mechanism comprises cutting ferrule, sleeve, interior cutting ferrule, ball, sleeve spring, inner spring; Cutting ferrule is fixed in the lower faceplate, the adjacent cutting ferrule inwall of interior cutting ferrule, and link to each other with lower faceplate through inner spring; Sleeve is positioned at the cutting ferrule periphery, and links to each other with lower faceplate through sleeve spring, and the screw rod bottom contacts with interior cutting ferrule upper end boss; Cutting ferrule top has two circular holes, and hole wall is low inside and high outside inclined-plane, when being in the lock state; Ball makes the locking of cutting ferrule and screw rod, when sleeve is depressed between the circular hole of screw rod arc groove and cutting ferrule; Ball is rolled along the inclined-plane from the cutting ferrule circular hole by the screw rod squeese pressure, and locking promptly is disengaged.
Wheeled travel mechanism adopts skid steer mechanism, and left and right sides wheel is by two motor individual drive.Bouncing mechanism adopts the non-linear extension spring spring of six bar rhombuses model, can realize bigger jumping height, the utilization ratio of higher motor.Double pendulum driving wheel leg, back single pendulum driving wheel leg structure before the front and back oscillating arm mechanisms adopts, its oscillating axle and wheel disalignment are when walking on flat ground surface; Before and after oscillating arm mechanisms pack up, be 4 to take turns car, at obstacle detouring, stride ditch and then the wabble wheel leg of front and back oscillating arm mechanisms is trailed when rolling; It is 3 wheeled or 4 wheeled that wheel and wheel leg constitute; The front and back arm can be accomplished 220 degree and 240 degree rotations respectively, and simple in structure, the brachium restriction is lacked.
The beneficial effect that the present invention has is:
Robot of the present invention is owing to adopted the non-linear extension spring spring of six bar rhombuses model; And through ingenious design catch gear; Increase its jumping height; Improve the utilization ratio of motor, can prevent that locking mechanism under the flutter of spring inner and non-rigid ground-surface double action take-off in advance takes place, the requirement of hub lock releasing is reduced.Before and after oscillating arm mechanisms adopt before double pendulum driving wheel leg, back single pendulum driving wheel leg structure, its oscillating axle and wheel disalignment, thereby the brachium restriction is few, the ability in its leap gully is strengthened greatly.In addition, the design occupation space resource of front and back oscillating arm mechanisms is few, need stay sufficient installing space for the bouncing mechanism be positioned at the robot middle part and cradle head mechanism and subsequent upgrade.Can realize from reset function; Leap obstacle detouring function, the CCD measuring platform is integrated sensors such as attitude, position, direction, and be installed in the liftable The Cloud Terrace; Because above characteristics, the present invention possesses very high compatible with environment and obstacle climbing ability under the natural environment in the open air.
Description of drawings
Fig. 1 is the integral structure scheme drawing of robot of the present invention.
Fig. 2 is the integrally-built front elevation of robot of the present invention.
Fig. 3 is the axonometric drawing of the bouncing mechanism main body of robot of the present invention.
Fig. 4 be robot of the present invention the bouncing mechanism main body front elevation.
Fig. 5 is the birds-eye view of the bouncing mechanism of robot of the present invention.
Fig. 6 is the back view of the bouncing mechanism of robot of the present invention.
Fig. 7 is the partial enlarged view of blocking device of the bouncing mechanism of robot of the present invention.
Fig. 8 is the upward view of the wheeled travel mechanism of robot of the present invention.
Fig. 9 is the front elevation of the wheeled travel mechanism of robot of the present invention.
Figure 10 is the birds-eye view of the front and back oscillating arm mechanisms of robot of the present invention.
Figure 11 is the front elevation of the front and back oscillating arm mechanisms of robot of the present invention.
Figure 12 is the front and back swing arm end position scheme drawing of robot of the present invention.
Figure 13 is the front elevation of the cradle head mechanism of robot of the present invention.
Figure 14 is the birds-eye view of the cradle head mechanism of robot of the present invention.
Figure 15 is a ROBOT CONTROL system chart of the present invention.
Among the figure: 1, front and back oscillating arm mechanisms, 2, cradle head mechanism, 3, car body, 4, wheeled travel mechanism, 5, mainboard, 6, bouncing mechanism; 7, control circuit board, wabble wheel leg before 8, battery, 1.1, first, wabble wheel leg before 1.2, second, 1.3, preceding connecting arm, 1.4, the back connecting arm; 1.5, back wabble wheel leg 1.6, front swing arm retarder, 1.7, the front swing arm motor, 1.8, the rear-swing arm retarder, 1.9, the rear-swing arm motor, 1.10, the rear-swing arm motor encoder, 1.11, the front swing arm motor encoder; 1.12, the front swing arm adapter shaft, 1.13, the front swing arm sleeve, 1.14 forward swing arm axles, 1.15, the postbrachium connecting pin, 1.16, the rear-swing arm adapter shaft, 1.17, the rear-swing arm sleeve; 1.18, the rear-swing arm axle, 2.1, the CCD measuring platform, 2.2, the The Cloud Terrace pedestal, 2.3, horizontal stage electric machine, 2.4, lifting arm, 2.5, the auxilliary arm of The Cloud Terrace; 2.6, the second The Cloud Terrace adapter shaft, 2.7, the first The Cloud Terrace adapter shaft, 2.8, auxilliary arm flange, 2.9, auxilliary arm connecting pin, 2.10, the horizontal stage electric machine coupling bush, 2.11, the horizontal stage electric machine potential device; 2.12, the The Cloud Terrace bearing sleeve, 2.13, The Cloud Terrace potential device coupling bush, 3.1, upper cover plate, 3.2, lower cover, 3.3, base plate, 3.4, bracing frame; 4.1, the near front wheel, 4.2, left rear wheel, 4.3, off front wheel, 4.4, off hind wheel, 4.5, the revolver drive motor, 4.6, right wheel drive motor; 4.7, the near front wheel bearing, 4.8, left front wheel shaft coupling bush, 4.9, first belt wheel, 4.10, left belt conveyor, 4.11, second belt wheel, 4.12, left back wheel shaft coupling bush; 4.13, the left rear wheel bearing, 4.14, right turbin generator flange, 4.15, the revolver motor flange, 4.16, the off front wheel bearing, 4.17, right front wheel shaft coupling bush, the 4.18, the 3rd belt wheel; 4.19, right belt conveyor, 4.20, the off hind wheel bearing, 4.21, right back wheel shaft coupling bush, 4.22, four-tape wheel, 6.1, screw rod, 6.2, top panel; 6.3, lower faceplate, 6.4, catch gear, 6.5, first main spring, 6.6, second main spring, the 6.7, the 4th guide rod, 6.8, first guide rod; 6.9, second guide rod, the 6.10, the 3rd guide rod, 6.11, connecting rod, 6.12, big belt wheel, 6.13, the guide rod spring; 6.14, nut, 6.15, trigger sleeve, 6.16, small pulley, 6.17, the small pulley lid, 6.18, big pulley cover; 6.19, belt conveyor, 6.20, the bouncing mechanism retarder, 6.21, the bouncing mechanism motor, 6.22, the bouncing mechanism motor encoder, 6.41, sleeve; 6.42, ball, 6.43, cutting ferrule, 6.44, sleeve spring, 6.45, interior cutting ferrule, 6.46, inner spring.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment to the present invention is described further.
Like Fig. 1, shown in Figure 2, robot of the present invention mainly comprises wheeled travel mechanism 4, bouncing mechanism 6, car body 3, front and back oscillating arm mechanisms 1, cradle head mechanism 2.Like Fig. 8, shown in Figure 9; Symmetry is installed the near front wheel 4.1, left rear wheel 4.2, off front wheel 4.3 and off hind wheel 4.4 in the wheeled travel mechanism respectively in the both sides of mainboard 5, and revolver drive motor 4.5 and right wheel drive motor 4.6 motor flange through separately respectively are fixed in below the mainboard 5.The transmission shaft of the near front wheel 4.1 is through the near front wheel bearing 4.7; Left front wheel shaft coupling bush 4.8 links to each other with first belt wheel 4.9; The transmission shaft of left rear wheel 4.2 is through left rear wheel bearing 4.13; Left back wheel shaft coupling bush 4.12, the second belt wheels 4.11 link to each other with revolver drive motor 4.5, and first belt wheel 4.9 is connected through left belt conveyor 4.10 with second belt wheel 4.11; The transmission shaft of off front wheel 4.3 is through off front wheel bearing 4.16; Right front wheel shaft coupling bush 4.17 links to each other with right wheel drive motor 4.6 with the 3rd belt wheel 4.18; The transmission shaft of off hind wheel 4.4 is through off hind wheel bearing 4.20; Right back wheel shaft coupling bush 4.21 links to each other with four-tape wheel 4.22, and the 3rd belt wheel is connected through right belt conveyor 4.19 with four-tape wheel.
Like Fig. 3, Fig. 4, Fig. 5, shown in Figure 6; Big belt wheel 6.12 is equipped with on screw rod 6.1 tops in the bouncing mechanism; The circular hole of mainboard 5 centers is passed in the bottom, after being fixed in the nut 6.14 of top panel 6.2 and being connected in the triggering sleeve 6.15 of nut bottom, contacts with the catch gear that is fixed in lower faceplate 6.4; First guide rod 6.8 and the 3rd guide rod 6.10 tops are fixed in through being threaded in the mainboard 5, and the bottom is passed top panel 6.2 circular holes and is suspended from lower faceplate 6.3 tops; Second leads the 6.9 and the 4th guide rod 6.7 tops is provided with boss; Guide rod spring 6.13 is put between the groove of boss and top panel 6.2; And be fixed in the top panel; The bottom of second guide rod 6.9 and the 4th guide rod 6.7 is fixed in through being threaded in the lower faceplate 6.3, and top panel 6.2 links to each other with four connecting rods 6.11 of lower faceplate 6.3 through symmetry, and the upper and lower strut hinged place is fixed in through being connected cylinder in first main spring 6.5 that front and back are symmetrically distributed and the two ends of second main spring 6.6; Bouncing mechanism motor 6.21 upper ends link to each other with bouncing mechanism retarder 6.20; Bouncing mechanism motor encoder 6.22 is equipped with in the lower end; The circular hole that bouncing mechanism reducer shaft 6.20 passes mainboard 5 centers one side links to each other with small pulley 6.16; Small pulley 6.16 links to each other through belt conveyor 6.19 with described big belt wheel 6.12, and the top respectively is fixed with big pulley cover 6.18 and small pulley lid 6.17.
Like Figure 10, Figure 11, shown in Figure 12; Rear-swing arm motor 1.9 in the oscillating arm mechanisms is fixed in the top rearward position of mainboard 5 through flange; Rear-swing arm retarder 1.8 1 ends link to each other with rear-swing arm motor 1.9; The other end links to each other with rear-swing arm axle 1.18, and rear-swing arm axle 1.18 links to each other with back connecting arm 1.4 through rear-swing arm sleeve 1.17, and back wabble wheel leg 1.5 links to each other through postbrachium connecting pin 1.15 with back connecting arm 1.4; Rear-swing arm motor encoder 1.10 is fixed in rearward position above the mainboard 5 through flange, links to each other with rear-swing arm axle 1.18 through rear-swing arm adapter shaft 1.16; Front swing arm motor 1.7 through flange be fixed in mainboard 5 above the position of forward side; Front swing arm retarder 1.6 1 ends link to each other with front swing arm motor 1.7; The other end links to each other with forward swing arm axle 1.14; Forward swing arm axle 1.14 links to each other with preceding connecting arm 1.3 through front swing arm sleeve 1.13; The wabble wheel leg 1.1 and the second preceding wabble wheel leg 1.2 link to each other with preceding connecting arm 1.3 through connecting pin respectively before first, and front swing arm motor encoder 1.11 is fixed in forward position above the mainboard 5 through flange, and links to each other with forward swing arm axle 1.14 through front swing arm adapter shaft 1.12.
Like Figure 13, shown in Figure 14; Horizontal stage electric machine 2.3 in the cradle head mechanism is fixed in the top middle part of mainboard 5 through flange; The horizontal stage electric machine axle links to each other with lifting arm 2.4 through horizontal stage electric machine coupling bush 2.10; Horizontal stage electric machine potential device 2.11 is fixed in middle part above the mainboard 5 through flange, links to each other with lifting arm 2.4 through The Cloud Terrace potential device coupling bush 2.13, The Cloud Terrace bearing sleeve 2.12; The big pulley cover of lifting arm 2.4 front ends and bouncing mechanism 6.12, small pulley cover 6.16 tangent The Cloud Terrace pedestals 2.2 and link to each other through the first The Cloud Terrace adapter shaft 2.7; The rear end of the auxilliary arm 2.5 of The Cloud Terrace is fixed on the mainboard 5 through auxilliary arm connecting pin 2.9, auxilliary arm flange 2.8; Auxilliary arm 2.5 front ends of The Cloud Terrace link to each other through the second The Cloud Terrace adapter shaft 2.6 with The Cloud Terrace pedestal 2.2, and CCD measuring platform 2.1 is installed on the The Cloud Terrace pedestal.
As shown in Figure 2, control circuit board 7 is fixed in above the mainboard 5, the state of kinematic motion of control robot.As shown in Figure 5, battery 8 is fixed in the mainboard below, for dolly provides power source.Like Fig. 1, shown in Figure 2, the upper end cover of car body is symmetrically fixed on around the mainboard 5 by four upper cover plates 3.1, and the rear side cover plate has rectangular opening; Rear-swing arm 1.5 is rotated up and down; Two side cover plates are provided with bracing frame 3.4, and double-pendulum arms is put on the bracing frame 3.4 before when cruising, can making, and the bottom end cover of car body is symmetrically fixed on mainboard 5 belows by four lower covers 3.2; And a base plate 3.3 is fixed in four lower cover belows; Have rectangular opening in the middle of the base plate 3.3, bouncing mechanism the latter half is stretched out, when spring, contact with ground.
Comprise cutting ferrule 6.43, sleeve 6.41, interior cutting ferrule 6.45, ball 6.42, sleeve spring 6.44, inner spring 6.46 like the blocking device in Fig. 7 bouncing mechanism 6.4; Cutting ferrule 6.43 is fixed in the lower faceplate 6.3, interior cutting ferrule 6.45 adjacent cutting ferrule 6.43 inwalls, and link to each other with lower faceplate 6.3 through inner spring 6.46; Sleeve 6.41 is positioned at cutting ferrule 6.43 peripheries, and links to each other with lower faceplate 6.3 through sleeve spring 6.44, and screw rod 6.1 bottoms contact with interior cutting ferrule 6.45 upper end boss; Cutting ferrule 6.43 tops have two circular holes, and hole wall is low inside and high outside inclined-plane, when being in the lock state; Ball 6.42 makes cutting ferrule 6.43 and screw rod 6.1 lockings, when sleeve 6.41 is depressed between the circular hole of screw rod 6.1 arc grooves and cutting ferrule 6.43; Ball 6.42 is rolled along the inclined-plane from cutting ferrule 6.43 circular holes by screw rod 6.1 squeese pressures, and locking promptly is disengaged.
When on flat ground surface, walking, the front and back oscillating arm mechanisms is regained, and is 4 to take turns car, at obstacle detouring, stride ditch and then the front and back oscillating arm mechanisms is trailed when rolling; The wabble wheel leg of oscillating arm mechanisms improves its obstacle climbing ability and compatible with environment before and after utilizing, and realizes the reset function under the situation of toppling; Utilize six bar bouncing mechanisms can realize skip functionality efficiently, easily.
When detecting the road surface when more smooth, robot promptly gets into the cruising pattern, and front and back oscillating arm mechanisms 1 is regained, and bouncing mechanism 6 is positioned at initial condition, utilizes wheeled travel mechanism 4 to go.As Fig. 8, shown in Figure 9 be wheeled travel mechanism scheme drawing; Revolver drive motor 4.5 provides the power of robot left side wheel; Right wheel drive motor 4.6 provides the power of robot right-hand wheel; When turning to, realize that through the velocity contrast of two electric machine control left and right sides wheels robot turns to, i.e. skid steer.The axle of revolver drive motor 4.5 links to each other with left rear wheel 4.2, and realizes synchronous strap drive through synchronous pulley, and transmission of power to the near front wheel 4.1, is realized the control to two-wheeled speed before and after the left side.The mode of two-wheeled speed is identical with left drive motor 4.5 modes before and after 4.6 pairs of right sides of right wheel drive motor, only is adapted at road conditions ground running preferably.
When detecting pavement roughness; When needing obstacle detouring, wabble wheel leg 1.2 and 1.1 lifts the dolly front end before can making according to the height of obstacle or the gradient, realizes the four-wheel-type of two back-wheel drives; Back wabble wheel leg 1.5 is lifted the dolly rear end; Realize the three wheeled of two f-w-ds, preceding wabble wheel leg 1.2 and 1.1 is lifted certain angle, drive motor slows down and increases the thrust clear an obstacle that large torque combines back wabble wheel leg 1.5 simultaneously.
As Figure 10, shown in Figure 11 be front and back oscillating arm mechanisms scheme drawings, oscillating arm mechanisms 1 is in succession in mainboard 5 tops, before front swing arm motor 1.7 drives connecting arm and before the wabble wheel leg rotate, rear-swing arm motor 1.9 drives connecting arms and back wabble wheel leg rotates.Front swing arm motor 1.7 is connected with forward swing arm axle 1.14 through front swing arm retarder 1.6; Wabble wheel leg 1.2 swings before the wabble wheel leg 1.1 and second before forward swing arm axle 1.14 drives first through preceding connecting arm 1.3; Come the pendulum angle of front swing arm is measured through front swing arm motor encoder 1.11, rear-swing arm and front swing arm are similar.
Swing through front and back oscillating arm mechanisms 1 and with the cooperating of wheeled travel mechanism 4, robot can be accomplished actions such as the obstacle detouring that resets.Shown in figure 12, when current rear-swing arm mechanism was positioned at the end position I, swing wheel leg was all regained, and was 4 to take turns car.Be used for obstacle detouring, when striding ditch, oscillating arm mechanisms between position I and position II, if preceding wabble wheel leg 1.1 with 1.2 expansion; Then it constitutes 4 wheeled with back 2 wheels; If back wabble wheel leg 1.3 launches, then its to take turns formation 3 wheeled with front 2, improve its obstacle climbing ability and compatible with environment; When car body toppled, the car body top and bottom was inverted, and the wabble wheel leg directly contacts with ground, and wabble wheel leg 1.1 and 1.2 spinning movements before utilizing can realize the reset function under the overturning situation.
When robot runs into the ditch that can not cross over or during the obstacle that can't cross over by preceding wabble wheel leg, then starts bouncing mechanism and leap irrigation canals and ditches or obstacle.The action of bouncing mechanism is divided into accumulation of energy action, spring-like movement and homing action.
During the accumulation of energy action:
The bouncing mechanism main portion is positioned at mainboard 5 bottoms, and at initial condition, the ball 6.42 in the blocking device is between the circular hole of screw rod 6.1 arc grooves and cutting ferrule 6.43; Mechanism 6.4 locking that is locked of the screw rod 6.1 of bouncing mechanism, top panel 6.2 is near mainboard 5, when accumulation of energy begins; Motor 6.21 is just changeing, and through retarder 6.20 be with 6.19 to give screw rod 6.1 with power transmission synchronously, screw rod 6.1 rotates; Through nut 6.14 screw thread transmissions with top panel 6.2 pressed downward; Main spring 6.5 and 6.6 is elongated, and mechanism's accumulation of energy begins, when feedback and the counting motor of control system through bouncing mechanism motor encoder 6.22 both turns over fixing turn; System's control motor 6.21 stops operating, and accumulation of energy finishes.
During spring-like movement:
Control system is sent the spring instruction, and then bouncing mechanism motor 6.21 continues just to change, and top panel 6.2 continues to press down under the drive of screw rod 6.1; Trigger sleeve 6.15 contact sleeves 6.41, when sleeve 6.41 was depressed certain distance, sleeve spring 6.44 was compressed; Ball 6.42 is rolled along the inclined-plane from screw rod 6.1 arc grooves by screw rod 6.1 deep-slotted chip breaker squeese pressures in the lockout mechanism simultaneously; Lockout mechanism 6.4 disappears with the locking effect of screw rod 6.1, and lower faceplate 6.3 ejects downwards rapidly under the pulling function of two main springs 6.5 and 6.6, makes robot realize skip functionality; Sleeve 6.41 gets back in cutting ferrule 6.43 circular holes ball 6.42 under sleeve spring 6.44 effects simultaneously.
During homing action:
After spring finishes, if control system is sent reset instruction, then bouncing mechanism motor 6.21 counter-rotatings; Top panel 6.2 is upward movement under screw rod 6.1 effects, drives the whole upward movement of bouncing mechanism, and while top panel 6.2 drives lower faceplate 6.3 through guide rod 6.7 and 6.9 and rises; Again get into lockout mechanism 6.4 up to screw rod 6.1 bottoms; Ball 6.42 again with screw rod 6.1 grooves contact, realize locking again, feedback and the counting bouncing mechanism motor 6.21 of control system this moment through motor encoder 6.22 both fixing turns that reversed; System's control bouncing mechanism motor 6.21 stops operating, and bouncing mechanism restPoses.
The integral body control of robot is shown in figure 15; Robot is known and is sent signal to controller by being installed in each sensor in the CCD measuring platform the perception of environment; Go out instruction by the controller calculating and sending each motor is controlled, the running state of each motor feeds back to controller by electromechanical transducer equally.The various functions of all robots, as reset, obstacle detouring, stride ditch, spring etc., all by behind each sensor senses robot surrounding environment of living in, by each motor of controller give a signal control and the required function of bouncing mechanism realization.Various sensors, coder, motor and control chip all can be chosen on market.
The above-mentioned specific embodiment is used for the present invention that explains, rather than limits the invention, and in the protection domain of spirit of the present invention and claim, any modification and change to the present invention makes all fall into protection scope of the present invention.

Claims (2)

1. a bar is bounce mechanism combined takes turns the leg mobile robot; It is characterized in that: symmetrical respectively the near front wheel (4.1), left rear wheel (4.2), off front wheel (4.3) and the off hind wheel of installing in the wheeled travel mechanism (4.4) in the both sides of mainboard (5); Revolver drive motor (4.5) and right wheel drive motor (4.6) motor flange through separately respectively are fixed in below the mainboard (5); The transmission shaft of the near front wheel (4.1) is through the near front wheel bearing (4.7); Left front wheel shaft coupling bush (4.8) links to each other with first belt wheel (4.9), and the transmission shaft of left rear wheel (4.2) is through left rear wheel bearing (4.13), left back wheel shaft coupling bush (4.12); Second belt wheel (4.11) links to each other with revolver drive motor (4.5), and first belt wheel (4.9) is connected through left belt conveyor (4.10) with second belt wheel (4.11); The transmission shaft of off front wheel (4.3) is through off front wheel bearing (4.16); Right front wheel shaft coupling bush (4.17) links to each other with right wheel drive motor (4.6) with the 3rd belt wheel (4.18); The transmission shaft of off hind wheel (4.4) is through off hind wheel bearing (4.20); Right back wheel shaft coupling bush (4.21) links to each other with four-tape wheel (4.22), and the 3rd belt wheel is connected through right belt conveyor (4.19) with four-tape wheel; Big belt wheel (6.12) is equipped with on screw rod in the bouncing mechanism (6.1) top; The circular hole of mainboard (5) center is passed in the bottom; After being fixed in the nut (6.14) of top panel (6.2) and being connected in the triggering sleeve (6.15) of nut bottom; Contact with the catch gear that is fixed in lower faceplate (6.4); First guide rod (6.8) and the 3rd guide rod (6.10) top are fixed in through being threaded in the mainboard (5), and the bottom is passed top panel (6.2) circular hole and is suspended from lower faceplate (6.3) top; Second guide rod (6.9) and the 4th guide rod (6.7) top are provided with boss; Guide rod spring (6.13) is put between the groove of boss and top panel (6.2); And be fixed in the top panel; The bottom of second guide rod (6.9) and the 4th guide rod (6.7) is fixed in through being threaded in the lower faceplate (6.3); Top panel (6.2) links to each other with four connecting rods (6.11) of lower faceplate (6.3) through symmetry, and the upper and lower strut hinged place is fixed in through being connected cylinder in first main spring (6.5) that front and back are symmetrically distributed and the two ends of second main spring (6.6); Bouncing mechanism motor (6.21) upper end links to each other with bouncing mechanism retarder (6.20); Bouncing mechanism motor encoder (6.22) is equipped with in the lower end; The circular hole that bouncing mechanism reducer shaft (6.20) passes mainboard (5) center one side links to each other with small pulley (6.16); Small pulley (6.16) links to each other through belt conveyor (6.19) with described big belt wheel (6.12), and the top respectively is fixed with big pulley cover (6.18) and small pulley lid (6.17); Rear-swing arm motor (1.9) in the oscillating arm mechanisms is fixed in the top rearward position of mainboard (5) through flange; Rear-swing arm retarder (1.8) one ends link to each other with rear-swing arm motor (1.9); The other end links to each other with rear-swing arm axle (1.18); Rear-swing arm axle (1.18) links to each other with back connecting arm (1.4) through rear-swing arm sleeve (1.17); Back wabble wheel leg (1.5) links to each other through postbrachium connecting pin (1.15) with back connecting arm (1.4), and rear-swing arm motor encoder (1.10) is fixed in rearward position above the mainboard (5) through flange, links to each other with rear-swing arm axle (1.18) through rear-swing arm adapter shaft (1.16); Front swing arm motor (1.7) through flange be fixed in mainboard (5) above the position of forward side; Front swing arm retarder (1.6) one ends link to each other with front swing arm motor (1.7); The other end links to each other with forward swing arm axle (1.14); Forward swing arm axle (1.14) links to each other with preceding connecting arm (1.3) through front swing arm sleeve (1.13); The wabble wheel leg (1.1) and the second preceding wabble wheel leg (1.2) link to each other with preceding connecting arm (1.3) through connecting pin respectively before first, and front swing arm motor encoder (1.11) is fixed in forward position above the mainboard (5) through flange, and links to each other with forward swing arm axle (1.14) through front swing arm adapter shaft (1.12); Horizontal stage electric machine in the cradle head mechanism (2.3) is fixed in the top middle part of mainboard (5) through flange; The horizontal stage electric machine axle links to each other with lifting arm (2.4) through horizontal stage electric machine coupling bush (2.10); Horizontal stage electric machine potential device (2.11) is fixed in middle part above the mainboard (5) through flange, links to each other with lifting arm (2.4) through The Cloud Terrace potential device coupling bush (2.13), The Cloud Terrace bearing sleeve (2.12); Lifting arm (2.4) front end links to each other through the first The Cloud Terrace adapter shaft (2.7) with the big pulley cover of bouncing mechanism (6.12), small pulley lid (6.16) tangent The Cloud Terrace pedestal (2.2); The rear end that The Cloud Terrace is assisted arm (2.5) is fixed on the mainboard (5) through auxilliary arm connecting pin (2.9), auxilliary arm flange (2.8); The Cloud Terrace is assisted arm (2.5) front end and is linked to each other through the second The Cloud Terrace adapter shaft (2.6) with The Cloud Terrace pedestal (2.2), and CCD measuring platform (2.1) is installed on the The Cloud Terrace pedestal; Control circuit board (7) is fixed in above the mainboard (5), the state of kinematic motion of control robot; Battery (8) is fixed in the mainboard below, for dolly provides power source; The upper end cover of car body is symmetrically fixed on mainboard (5) all around by four upper cover plates (3.1); The rear side cover plate has rectangular opening, and rear-swing arm (1.5) is rotated up and down, and two side cover plates are provided with bracing frame (3.4); Double-pendulum arms is put on the bracing frame (3.4) before when cruising, can making; The bottom end cover of car body is symmetrically fixed on mainboard (5) below by four lower covers (3.2), and a base plate (3.3) is fixed in four lower cover belows, the middle rectangular opening that has of base plate (3.3); Bouncing mechanism the latter half is stretched out, when spring, contact with ground.
2. a kind of six bars according to claim 1 are bounce mechanism combined takes turns the leg mobile robot, and it is characterized in that: the blocking device in the described bouncing mechanism (6.4) comprises cutting ferrule (6.43), sleeve (6.41), interior cutting ferrule (6.45), ball (6.42), sleeve spring (6.44), inner spring (6.46); Cutting ferrule (6.43) is fixed in the lower faceplate (6.3), the adjacent cutting ferrule of interior cutting ferrule (6.45) (6.43) inwall, and link to each other with lower faceplate (6.3) through inner spring (6.46); Sleeve (6.41) is positioned at cutting ferrule (6.43) periphery, and links to each other with lower faceplate (6.3) through sleeve spring (6.44), and screw rod (6.1) bottom contacts with interior cutting ferrule (6.45) upper end boss; Cutting ferrule (6.43) top has two circular holes; Hole wall is low inside and high outside inclined-plane, and when being in the lock state, ball (6.42) is positioned between the circular hole of screw rod (6.1) arc groove and cutting ferrule (6.43); Make cutting ferrule (6.43) and screw rod (6.1) locking; When sleeve (6.41) is depressed, ball (6.42) is rolled along the inclined-plane from cutting ferrule (6.43) circular hole by screw rod (6.1) squeese pressure, and locking promptly is disengaged.
CN 201110197118 2011-07-14 2011-07-14 Six-bar bouncing combined-type wheel-leg mobile robot Expired - Fee Related CN102328703B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201110197118 CN102328703B (en) 2011-07-14 2011-07-14 Six-bar bouncing combined-type wheel-leg mobile robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201110197118 CN102328703B (en) 2011-07-14 2011-07-14 Six-bar bouncing combined-type wheel-leg mobile robot

Publications (2)

Publication Number Publication Date
CN102328703A true CN102328703A (en) 2012-01-25
CN102328703B CN102328703B (en) 2012-12-26

Family

ID=45480728

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201110197118 Expired - Fee Related CN102328703B (en) 2011-07-14 2011-07-14 Six-bar bouncing combined-type wheel-leg mobile robot

Country Status (1)

Country Link
CN (1) CN102328703B (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102632935A (en) * 2012-04-18 2012-08-15 东南大学 Ricochet robot capable of gliding
CN103895483A (en) * 2012-12-28 2014-07-02 深圳先进技术研究院 Electromobile
CN104029745A (en) * 2014-05-21 2014-09-10 浙江大学 Leg and wheel hybrid type hydraulic mechanical leg
CN105729490A (en) * 2016-05-11 2016-07-06 徐荣婷 Obstacle crossing investigation robot
CN106003039A (en) * 2016-06-20 2016-10-12 南京航空航天大学 Variable-structure mobile robot capable of making orthogonal bidirectional movement and control method of variable-structure mobile robot
TWI566969B (en) * 2015-11-27 2017-01-21 龍華科技大學 Wheeled and jumping robot capable of remote control
CN107933721A (en) * 2016-10-13 2018-04-20 龙华科技大学 Remote-controlled wheel-type and hopping robot
CN110126936A (en) * 2019-06-21 2019-08-16 辽宁工程技术大学 A kind of robot ambulation and bouncing mechanism
DE102018210626B3 (en) * 2018-06-28 2019-09-19 Ford Global Technologies, Llc axle assembly
CN110481670A (en) * 2019-08-26 2019-11-22 西安电子科技大学 A kind of hybrid hexapod robot of wheel leg
CN113002244A (en) * 2021-03-16 2021-06-22 重庆大学 Deep space exploration bouncing robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5515934A (en) * 1994-10-17 1996-05-14 Davis; Stuart D. Agile versatile mobile robot body
CN1994804A (en) * 2006-12-21 2007-07-11 浙江大学 Wheel, leg, bounce mechanism combined mobile robot
CN101219683A (en) * 2008-01-25 2008-07-16 清华大学 Dual-purpose mobile robot of wheel and foot
JP2009120101A (en) * 2007-11-16 2009-06-04 Ihi Corp Locomotive robot and its moving method
CN101850795A (en) * 2010-05-26 2010-10-06 河北工业大学 Wheel-leg combined type mobile robot platform

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5515934A (en) * 1994-10-17 1996-05-14 Davis; Stuart D. Agile versatile mobile robot body
CN1994804A (en) * 2006-12-21 2007-07-11 浙江大学 Wheel, leg, bounce mechanism combined mobile robot
JP2009120101A (en) * 2007-11-16 2009-06-04 Ihi Corp Locomotive robot and its moving method
CN101219683A (en) * 2008-01-25 2008-07-16 清华大学 Dual-purpose mobile robot of wheel and foot
CN101850795A (en) * 2010-05-26 2010-10-06 河北工业大学 Wheel-leg combined type mobile robot platform

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102632935A (en) * 2012-04-18 2012-08-15 东南大学 Ricochet robot capable of gliding
CN103895483A (en) * 2012-12-28 2014-07-02 深圳先进技术研究院 Electromobile
CN104029745A (en) * 2014-05-21 2014-09-10 浙江大学 Leg and wheel hybrid type hydraulic mechanical leg
TWI566969B (en) * 2015-11-27 2017-01-21 龍華科技大學 Wheeled and jumping robot capable of remote control
CN105729490B (en) * 2016-05-11 2017-10-17 宁波威客双创投资有限公司 A kind of obstacle detouring Detecting Robot
CN105729490A (en) * 2016-05-11 2016-07-06 徐荣婷 Obstacle crossing investigation robot
CN106003039A (en) * 2016-06-20 2016-10-12 南京航空航天大学 Variable-structure mobile robot capable of making orthogonal bidirectional movement and control method of variable-structure mobile robot
CN106003039B (en) * 2016-06-20 2018-01-23 南京航空航天大学 Can orthogonal bidirectional-movement structure changes mobile robot and its control method
CN107933721A (en) * 2016-10-13 2018-04-20 龙华科技大学 Remote-controlled wheel-type and hopping robot
DE102018210626B3 (en) * 2018-06-28 2019-09-19 Ford Global Technologies, Llc axle assembly
CN110126936A (en) * 2019-06-21 2019-08-16 辽宁工程技术大学 A kind of robot ambulation and bouncing mechanism
CN110126936B (en) * 2019-06-21 2021-04-23 辽宁工程技术大学 Robot walking and bouncing mechanism
CN110481670A (en) * 2019-08-26 2019-11-22 西安电子科技大学 A kind of hybrid hexapod robot of wheel leg
CN113002244A (en) * 2021-03-16 2021-06-22 重庆大学 Deep space exploration bouncing robot

Also Published As

Publication number Publication date
CN102328703B (en) 2012-12-26

Similar Documents

Publication Publication Date Title
CN102328703B (en) Six-bar bouncing combined-type wheel-leg mobile robot
CN100553896C (en) Robot for eliminating exploding and danger
CN103538644B (en) A kind of robot with rolling movement and sufficient formula walking function
CN200985053Y (en) Wheel legs bouncing composite moving robot based on group working
CN107600217B (en) Hopping robot leg and hopping robot
CN107140052A (en) A kind of wheel leg type Hexapod Robot with suspension
CN102849140B (en) Multi-moving-mode bionic moving robot
CN202716954U (en) All-terrain hybrid chassis
CN102211627A (en) Four-leg robot mechanism based on bionic design
CN1644328A (en) Small crawler leg composite movable robot mechanism
CN112141236B (en) Take shock-absorbing function's sufficient formula robot shank system of wheel
CN103171645B (en) Hexapod robot capable of travelling in rolling manner
CN202608927U (en) Robot with gliding and bouncing functions
CN111391934B (en) Wheel-leg composite robot moving device and wheel-leg composite robot
CN112373594A (en) Wheel-leg hybrid drive type mining metamorphic robot
CN204472949U (en) Novelly take turns the changeable robot of leg pattern
CN202201079U (en) Hopping robot based on rotating-disc cylindrical-pin driving mechanism
CN203158114U (en) Intelligent obstacle crossing robot based on Bluetooth control
CN203172754U (en) Rollable six-foot robot
CN202225931U (en) Four-bar linkage deformation caterpillar obstacle-climbing car
CN111846012A (en) Multi-motion-mode track-adjustable bionic bouncing robot
CN202138434U (en) Simulation jumping mechanism with adjustable jumping degree
CN109319007B (en) Four-foot bouncing device based on incomplete gear
CN102642572B (en) Duplex triangle connecting frame variable configuration crawler-type obstacle-crossing mechanism
CN109850030A (en) A kind of walking mechanism of novel bionic machinery

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20121226

Termination date: 20130714