CN103395456A - Wheel-legged mobile robot suitable for complicated terrains - Google Patents
Wheel-legged mobile robot suitable for complicated terrains Download PDFInfo
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- CN103395456A CN103395456A CN2013103551618A CN201310355161A CN103395456A CN 103395456 A CN103395456 A CN 103395456A CN 2013103551618 A CN2013103551618 A CN 2013103551618A CN 201310355161 A CN201310355161 A CN 201310355161A CN 103395456 A CN103395456 A CN 103395456A
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Abstract
A wheel-legged mobile robot suitable for complicated terrains belongs to the technical field of aircrafts, can be used for foreign planet detection, and comprises a platform and six wheel leg systems uniformly arranged on the periphery of the platform, wherein the six wheel leg systems have identical structures, and each wheel leg system comprises a steering mechanism, a turnover mechanism, a swing lifting mechanism, a rotating mechanism and a wheel; each steering mechanism is fixed onto the platform and is connected with the corresponding turnover mechanism; the two ends of each swing lifting mechanism are respectively connected with the corresponding turnover mechanism and the corresponding rotating mechanism; each wheel is connected onto the bottom of the corresponding rotating mechanism. The wheel-legged mobile robot can meet multiple requirements under the complicated environment, can climb a slope, cross an obstacle, span a trough and advance stably on the uneven ground, can be folded for being transported conveniently, and is simple in structure and low in energy consumption.
Description
Technical field
What the present invention relates to is the device in a kind of vehicle technology field, specifically a kind of complex-terrain movable robot with wheel legs that can be used for outer celestial body detecting.
Background technology
The advantage of wheeled mobile robot is rapidly and efficiently, and shortcoming is that the landform adaptive capacity is poor.In order to adapt to the terrain environment of relative complex, at present a lot of robots are not to adopt single wheel type mobile system, and are more to adopt the composite moving mechanisms such as wheel shoe formula, wheel leg type.This composite mobile robot adopts the different strategies of advancing under different environment, greatly improved speed of advance and the landform adaptive capacity of robot, becomes an important directions of current robot development.Mobile robot platform is an independently module, and separate between other modules, is convenient to secondary development and repacking, is of wide application.
The substantive issue that robot mobile system platform will solve is, by for its residing environment, after the indexs such as function that realize are analyzed, proposes the optimum physical construction of a cover, can realize the job requirement of being scheduled to, and namely realizes corresponding motion.The matter of utmost importance of mobile system Platform Designing is according to environment, determines the mode of advancing, and the single mode of advancing mainly contains wheeled, leg formula and crawler type etc.It respectively has its merits and faults, and for the terrain environment of relative complex, nowadays mostly adopts two kinds or the above mode of advancing to combine, and such combination has stronger adaptive capacity for the terrain environment of relative complex.
Existing leg-wheel robot mainly contains following several: 1, six movable robot with wheel legs take the Mars Rover Marsokhod of the U.S. as representative, it can cross over the obstacle of taking turns footpath higher than it, but be subjected to the restriction of its structure, vehicle body is too little apart from the distance on ground, the efficiency of advancing under the complex-terrain environment is not high, and energy consumption is larger.2, take Shanghai Communications University's triangle V shape wheel robot leg as representative, this class robot obstacle climbing ability is stronger, control simply, but its efficiency is lower, and the chassis vibration is violent, and the life-span is not long.3, with the wheel leg type varistructure mobile apparatus of Tsing-Hua University design, artificially represent, it can realize taking turns, leg, the compound motion of wheel leg, although its obstacle climbing ability is also stronger, but need eight motors and four cardan wheels, power consumption is larger, and load-carrying capacity and flying power are also poor.
Through the retrieval of prior art is found, Chinese patent literature CN101948011, open day 2011-01-19, put down in writing the multi-functional lunar robot of the universal walkings of a kind of six foot, and it is divided into mechanical construction and control system two parts; Physical construction is consisted of by regular hexagon well-distributed multiple degree of freedom foot arm a circular article carrying platform and six, on this basis, can on circular article carrying platform, install the various functional modules of needs additional, with practical function, expands; Control system adopts the AVR single chip computer architecture, is used for each functional module and physical construction are combined, and forms a lunar robot system.But the prior art is compared defect and the deficiency of existence and is that single sufficient arm mechanism degree of freedom is 3 with the present invention, folding, obstacle detouring, across scarce capacities such as ditches; Between each joint, adopt and be connected in series mode, whole mechanical characteristic is bad, and motion credibility is lower; Each joint motions coupling, gait planning calculates more complicated, and the machine energy-saving characteristic is bad.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of complex-terrain movable robot with wheel legs is provided, can meet the multiple requesting under complex environment, comprise and can realize climbing, obstacle detouring, steadily advance across ditch and at uneven terrain; And install collapsible, be convenient to transport, simple in structure, energy consumption is low.
The present invention is achieved by the following technical solutions, the present invention includes: platform, evenly be arranged at six of platform edges wheel leg systems, it is identical that each takes turns the leg system architecture, comprise: steering hardware, switching mechanism, swing lift system, rotating mechanism and wheel, wherein: steering hardware is fixed on platform and with switching mechanism and is connected, the two ends that swing lift system are connected with rotating mechanism with switching mechanism respectively, and wheel is connected in the bottom of rotating mechanism.
Described steering hardware comprises the first revolute, and this first revolute comprises: two mutual vertical and interconnective column of axis.
Described switching mechanism comprises the second revolute, and this second revolute comprises: an interconnective cylindrical anchor ring and a cylinder.
Described swing lift system comprises: two driving lever and two follower levers that structure is identical, and wherein: two ends of two driving levers are connected with switching mechanism jointly, and two other end end of the follower lever corresponding with two respectively is connected.
The length of described the first follower lever is less than the length of the second follower lever, and the end side of the first follower lever is connected with the middle part of the second follower lever, and the end side of the second follower lever is connected with rotating mechanism; Perhaps the structure of two follower levers is identical, the middle part of the first follower lever is connected with the middle part of the second follower lever, two other end of two follower levers is connected with a side end of two extension rods respectively, and the identical and other side end of the structure of two extension rods interconnects and is connected with rotating mechanism.
Rotating mechanism as the 3rd revolute is specially the oblong card base that center is provided with the vertical rotation axle.
Runner mechanism as the 4th revolute is specially the wheel carrier structure that two ends are connected by wheel shaft.
Steering hardware of the present invention is arranged on platform, can realize the rotation of whole shank around vertical axes; Switching mechanism is arranged on and swings on lift system, realizes the whole upset of taking turns the leg plane; Rotating mechanism is arranged on wheel, be used to adjusting wheel and the angle of taking turns the leg plane.Swing lift system and by the rotation of top two driving levers, drive the motion of following follower lever, realize the motions such as lifting and swing.
Robot of the present invention adopts the wheel-leg combined type structure, and leg adopts the connection in series-parallel hybrid junction, and is simple in structure, controls easily, and obstacle crossing ability is stronger, and energy consumption is lower, and the landform adaptive capacity is very strong, and collapsible.
The accompanying drawing explanation
Fig. 1 is the three-dimensional structure schematic diagram of embodiment 1;
Fig. 2 is the three-dimensional structure schematic diagram of embodiment 2.
The specific embodiment
Below embodiments of the invention are elaborated, the present embodiment is implemented under take technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As shown in Figure 1, the present embodiment comprises: platform 1, evenly be arranged at six of platform 1 edge wheel leg systems, it is identical that each takes turns the leg system architecture, comprise: steering hardware 2, switching mechanism 3, swing lift system, rotating mechanism 8, runner mechanism 9 and wheel 10, wherein: steering hardware 2 is fixed on platform 1 and with switching mechanism 3 and is connected, and the two ends that swing lift system are connected with rotating mechanism 8 with switching mechanism 3 respectively, and wheel 10 is connected in the bottom of rotating mechanism 8.
Described steering hardware 2 comprises the first revolute, and this first revolute comprises: two mutual vertical and interconnective column of axis.
Described switching mechanism 3 comprises the second revolute, and this second revolute comprises: an interconnective cylindrical anchor ring and a cylinder.
Described swing lift system comprises: two 4,5 and two follower levers 6,7 of driving lever that structure is identical, wherein: two ends of two driving levers 4,5 are connected with switching mechanism 3 jointly, two other end end of the follower lever 6,7 corresponding with two respectively is connected, the length of the first follower lever 6 is less than the length of the second follower lever 7, the end side of the first follower lever 6 is connected with the middle part of the second follower lever 7, and the end side of the second follower lever 7 is connected with rotating mechanism 8.
Described rotating mechanism 8 is specially the oblong card base that center is provided with the vertical rotation axle, and this rotating mechanism 8 is as the 3rd revolute.
Described runner mechanism 9 is specially the wheel carrier structure that two ends are connected by wheel shaft, and both connect by the cylinder attaching parts of bottom, and this runner mechanism 9 is as the 4th revolute.
In the present embodiment, switching mechanism 3 is connected with steering hardware 2 by bearing, driving lever 4,5 is connected on switching mechanism 3, the first follower lever 6 is connected on driving lever 4, the second follower lever 7 is connected on driving lever 5, and two follower levers 6 are connected with 7, and rotating mechanism 8 is connected on the second follower lever 7, rotating mechanism 8 is connected in runner mechanism 9, and wheel 10 is contained on rotating mechanism.
When robot six, take turns leg while all needing to use the leg structure, latching device is all locked by six wheels 10, and this moment, wheel 10 namely was equivalent to the foot of robot.Rotating mechanism 8 is adjusted wheel 10 and is spent with the angle to 90 on leg plane, and namely wheel 10 is vertical with working direction, and steering hardware 2 is by each leg Plane Rotation to working direction, and switching mechanism 3 turn to suitable angle by individual leg.Driving lever 4 and 5 rotates around switching mechanism 3, drives the swing of follower lever 6 and 7, realizes the lifting of shank and in the swing on leg plane, this is the main motion that realizes robot ambulation.
When robot need use four wheel legs as the leg structure, will be locked as the four wheels 10 of leg structure, as the foot use of robot.Rotating mechanism 8 is regulated four wheels 10 and leg plane included angle to 90 °, and other two wheels 10 point to working direction, and wheel 10 unclamps.In motion, as the shank driving lever 4,5 of wheel 10, do not move, each not relative motion of bar, wheel 10 is in ground surface, and all the other four-footeds motions are with above-mentioned six legged walkings.
Other mode of advancing is similar.
The described system of the present embodiment is when leaping over obstacles, and except the rotation of the driving lever 4,5 of two parallel connections makes the foot lifting, switching mechanism 3 also can be raised up to certain altitude by foot, and this has strengthened the obstacle climbing ability of robot.
Embodiment 2
as shown in Figure 2, the structure of the present embodiment is identical with embodiment 1 part, but the swing lift system of the present embodiment comprises: two driving levers 4 that structure is identical, 5 and two follower levers 6, 7, wherein: two driving levers 4, two ends of 5 are connected with switching mechanism 3 jointly, two other end respectively with two follower levers 6, 7 end is connected, the structure of two follower levers is identical, the middle part of the first follower lever 6 is connected with the middle part of the second follower lever 7, two follower levers 6, two other end of 7 respectively with two extension rods 11, a side end of 12 is connected, two extension rods 11, identical and the other side end of 12 structure interconnects and is connected with rotating mechanism 8.
Other structures of the present embodiment are identical with embodiment 1.
When robot six, take turns leg while all needing to use the leg structure, latching device is all locked by six wheels 10, and this moment, wheel 10 namely was equivalent to the foot of robot.Rotating mechanism 8 is adjusted wheel 10 and is spent with the angle to 90 on leg plane, and namely wheel 10 is vertical with working direction, and steering hardware 2 is by each leg Plane Rotation to working direction, and switching mechanism 3 turn to suitable angle by individual leg.Driving lever 4 and 5 rotates around switching mechanism 3, drives the swing of follower lever 6 and 7, realizes the lifting of shank and in the swing on leg plane, this is the main motion that realizes robot ambulation.
When robot need use four wheel legs as the leg structure, will be locked as the four wheels 10 of leg structure, as the foot use of robot.Rotating mechanism 8 is regulated four wheels 10 and leg plane included angle to 90 degree, and other two wheels 10 point to working direction, and wheel 10 unclamps.In motion, as the shank driving lever 4 and 5 of wheel 10, do not move, each not relative motion of bar, wheel 10 is in ground surface, and all the other four-footeds motions are with above-mentioned six legged walkings.
Other mode of advancing is similar.
The described system of the present embodiment is when leaping over obstacles, and except the driving lever 4 of two parallel connections and 5 rotation make the foot lifting, switching mechanism 3 also can be raised up to certain altitude by foot, and this has strengthened the obstacle climbing ability of robot.
Claims (7)
1. complex-terrain movable robot with wheel legs, it is characterized in that, comprise: platform, evenly be arranged at six of platform edges wheel leg systems, it is identical that each takes turns the leg system architecture, comprise: steering hardware, switching mechanism, swing lift system, rotating mechanism and wheel, wherein: steering hardware is fixed on platform and with switching mechanism and is connected, and the two ends that swing lift system are connected with rotating mechanism with switching mechanism respectively, and wheel is connected in the bottom of rotating mechanism.
2. robot according to claim 1, is characterized in that, described steering hardware comprises the first revolute, and this first revolute comprises: two mutual vertical and interconnective column of axis.
3. robot according to claim 1, is characterized in that, described switching mechanism comprises the second revolute, and this second revolute comprises: an interconnective cylindrical anchor ring and a cylinder.
4. the described robot of according to claim 1-3 any one, it is characterized in that, described swing lift system comprises: two driving lever and two follower levers that structure is identical, wherein: two ends of two driving levers are connected with switching mechanism jointly, and two other end end of the follower lever corresponding with two respectively is connected.
5. robot according to claim 4, it is characterized in that, the length of described the first follower lever is less than the length of the second follower lever, and the end side of the first follower lever is connected with the middle part of the second follower lever, and the end side of the second follower lever is connected with rotating mechanism; Perhaps the structure of two follower levers is identical, the middle part of the first follower lever is connected with the middle part of the second follower lever, two other end of two follower levers is connected with a side end of two extension rods respectively, and the identical and other side end of the structure of two extension rods interconnects and is connected with rotating mechanism.
6. robot according to claim 5, is characterized in that, centered by the rotating mechanism as the 3rd revolute, is provided with the oblong card base of vertical rotation axle.
7. robot according to claim 5, is characterized in that, as the runner mechanism of the 4th revolute, is two wheel carrier structure that end is connected by wheel shaft.
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| CN201310355161.8A CN103395456B (en) | 2013-08-15 | 2013-08-15 | Complicated landform movable robot with wheel legs |
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| CN201310355161.8A CN103395456B (en) | 2013-08-15 | 2013-08-15 | Complicated landform movable robot with wheel legs |
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| CN103395456A true CN103395456A (en) | 2013-11-20 |
| CN103395456B CN103395456B (en) | 2016-07-06 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029745A (en) * | 2014-05-21 | 2014-09-10 | 浙江大学 | Leg and wheel hybrid type hydraulic mechanical leg |
| CN104608837A (en) * | 2015-01-16 | 2015-05-13 | 燕山大学 | Wheel-leg composite type four-leg robot |
| CN105539627A (en) * | 2015-12-25 | 2016-05-04 | 谭春升 | Travel tool |
| CN106863278A (en) * | 2017-03-31 | 2017-06-20 | 中北大学 | A kind of PUU of wheel leg type 3 parallel connection mobile robots |
| CN106864623A (en) * | 2017-02-27 | 2017-06-20 | 北京交通大学 | A kind of double adjusting rock arm spring suspension vehicles of six wheels |
| CN107856758A (en) * | 2017-12-26 | 2018-03-30 | 燕山大学 | A kind of quadruped robot leg based on multistage coupling parallel institution |
| CN108146167A (en) * | 2017-11-24 | 2018-06-12 | 北京理工大学 | A kind of wheel leg type composite driving mechanism for amphibious ball shape robot |
| CN108725612A (en) * | 2018-07-18 | 2018-11-02 | 嘉兴学院 | A kind of multiple degrees of freedom multi-function robot |
| CN109176461A (en) * | 2018-10-31 | 2019-01-11 | 北京林业大学 | Wheel leg type barrier-surpassing robot |
| CN109747729A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate |
| CN109999515A (en) * | 2019-04-26 | 2019-07-12 | 西北工业大学明德学院 | A kind of multi-functional quadrotor |
| WO2020114216A1 (en) * | 2018-12-04 | 2020-06-11 | 深圳前海达闼云端智能科技有限公司 | Transportation robot and vehicle thereof |
| CN111267989A (en) * | 2020-03-18 | 2020-06-12 | 腾讯科技（深圳）有限公司 | Wheel-foot type mobile platform and wheel-foot type mobile robot |
| CN113815743A (en) * | 2021-10-14 | 2021-12-21 | 上海交通大学 | Wheel-foot-arm composite hexapod robot |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104029745A (en) * | 2014-05-21 | 2014-09-10 | 浙江大学 | Leg and wheel hybrid type hydraulic mechanical leg |
| CN104608837A (en) * | 2015-01-16 | 2015-05-13 | 燕山大学 | Wheel-leg composite type four-leg robot |
| CN104608837B (en) * | 2015-01-16 | 2017-04-26 | 燕山大学 | Wheel-leg composite type four-leg robot |
| CN105539627A (en) * | 2015-12-25 | 2016-05-04 | 谭春升 | Travel tool |
| CN105539627B (en) * | 2015-12-25 | 2018-01-26 | 谭春升 | A kind of walking-replacing tool |
| CN106864623A (en) * | 2017-02-27 | 2017-06-20 | 北京交通大学 | A kind of double adjusting rock arm spring suspension vehicles of six wheels |
| CN106863278A (en) * | 2017-03-31 | 2017-06-20 | 中北大学 | A kind of PUU of wheel leg type 3 parallel connection mobile robots |
| CN106863278B (en) * | 2017-03-31 | 2023-04-18 | 中北大学 | Wheel-leg type 3-PUU parallel mobile robot |
| CN109747729A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate |
| CN108146167A (en) * | 2017-11-24 | 2018-06-12 | 北京理工大学 | A kind of wheel leg type composite driving mechanism for amphibious ball shape robot |
| CN108146167B (en) * | 2017-11-24 | 2023-11-10 | 北京理工大学 | Wheel leg type composite driving mechanism for amphibious spherical robot |
| CN107856758A (en) * | 2017-12-26 | 2018-03-30 | 燕山大学 | A kind of quadruped robot leg based on multistage coupling parallel institution |
| CN108725612A (en) * | 2018-07-18 | 2018-11-02 | 嘉兴学院 | A kind of multiple degrees of freedom multi-function robot |
| CN108725612B (en) * | 2018-07-18 | 2023-09-22 | 嘉兴学院 | Multi-freedom-degree multifunctional robot |
| CN109176461A (en) * | 2018-10-31 | 2019-01-11 | 北京林业大学 | Wheel leg type barrier-surpassing robot |
| WO2020114216A1 (en) * | 2018-12-04 | 2020-06-11 | 深圳前海达闼云端智能科技有限公司 | Transportation robot and vehicle thereof |
| CN109999515A (en) * | 2019-04-26 | 2019-07-12 | 西北工业大学明德学院 | A kind of multi-functional quadrotor |
| CN111267989A (en) * | 2020-03-18 | 2020-06-12 | 腾讯科技（深圳）有限公司 | Wheel-foot type mobile platform and wheel-foot type mobile robot |
| CN113815743A (en) * | 2021-10-14 | 2021-12-21 | 上海交通大学 | Wheel-foot-arm composite hexapod robot |
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