CN106080828B - One kind wheel biped robot - Google Patents
One kind wheel biped robot Download PDFInfo
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- CN106080828B CN106080828B CN201610498220.0A CN201610498220A CN106080828B CN 106080828 B CN106080828 B CN 106080828B CN 201610498220 A CN201610498220 A CN 201610498220A CN 106080828 B CN106080828 B CN 106080828B
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- wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
The present invention relates to technical field of automatic control, specifically a kind of wheel biped robot, it is characterised in that：The fixing device being located in wheel；Described fixing device is being provided with slide opening vertically upward；Wheel drive unit provided with follower belt gear；Sufficient drive device；Position sensor is additionally provided with described sufficient drive device；Controller provided with wireless signal transceiver module；Battery；Described fixing device is located in wheel, and inwall of the fixing device along wheel is rotatably connected；Described wheel drive unit, sufficient drive device, controller, battery are respectively provided at the different parts of fixing device；The gear teeth meshing of the follower belt gear of described wheel drive unit and wheel；The top of described leg is slidably connected with slide opening, and midleg connects with sufficient driving unit shaft.The present invention compared with the existing technology, dexterously combines wheeled and sufficient formula, adapts to most of road environments；And the combination of wheel and foot reduces the possibility of rollover, and accelerate the speed of traveling.
Description
Technical field
The present invention relates to technical field of automatic control, specifically a kind of wheel biped robot.
Background technology
Existing sufficient class or running on wheels mechanism, there is its limitation.
Wheeled robot is more suitable for flat road surface, particularly road, and energy high-speed mobile, but easily skids, unstable,
It is and helpless to complicated landform.Double legged mobile robots are almost adapted to various complicated landforms, can leaping over obstacles, shortcoming is
Gait of march is relatively low, and because center of gravity reason is easily turned on one's side, it is unstable.
The content of the invention
The purpose of the present invention is to overcome prior art insufficient, designs a kind of device taken turns with can move completely simultaneously, makes it suitable
Ying Xinggeng is wide, and speed is faster.
To achieve the above object, a kind of wheel biped robot of design, it is characterised in that：
Include the wheel of annular shape；The uniform gear teeth on the madial wall of described wheel or on inwall；
The leg of two bottom axle pin palms；
The fixing device being located in wheel；Described fixing device is being provided with slide opening vertically upward；
Wheel drive unit provided with follower belt gear；
Sufficient drive device；Position sensor is additionally provided with described sufficient drive device；
Controller provided with wireless signal transceiver module；
Battery；
Described fixing device is located in wheel, and inwall of the fixing device along wheel is rotatably connected；
Described wheel drive unit, sufficient drive device, controller, battery are respectively provided at the different parts of fixing device；
The gear teeth meshing of the follower belt gear of described wheel drive unit and wheel；
The top of described leg is slidably connected with slide opening, and midleg connects with sufficient driving unit shaft；
The power interface of described controller is connected with battery path, the first via signal end connection wheel drive dress of controller
The signal end put, the second road signal end of controller connect the signal input part of sufficient drive device, the signal input part of controller
The signal output part of link position sensor；The signal input part of the signal output part link position sensor of sufficient drive device；
The wireless signal transceiver module of controller is used for and remote control wireless telecommunications；
When using wheel operation, controller controls the leg rotation of sufficient drive device, while is moved upwards along slide opening, then controls
Ratch drive device carrys out driving wheel rotation；
When using foot motion, controller controls sufficient drive device driving leg rotation, drives pin same what is rotated
When also being moved up and down up and down in linear position what slide opening limited, when pin is lifted away from ground, then wheel lands, until pin is again
The advance of biped is realized in ground, successively circulation.
Described wheel is provided with left and right two, is driven respectively by a wheel drive unit；Described leg is provided with left and right two,
Driven respectively by sufficient drive device.
Described wheel drive unit is to include follower belt gear, motor pulley, turbin generator；Described follower belt tooth
Wheel includes using the one side in rotating disk to be installed with the follower belt gear teeth being uniformly distributed along the circumference, and is provided with the annular outer wall of rotating disk
The belt grooves for being embedded belt are formed；Described motor belt wheel shaft is connected on the output shaft of turbin generator, motor pulley with
Follower belt gear is connected using belt；The centerline axis parallel of the output shaft of turbin generator is in the axial direction of wheel；
When madial wall of the gear teeth along wheel is uniform, the described gear teeth are set to cylindric, the central axis and wheel of the gear teeth
It is axially in parallel, the described gear teeth engage with the follower belt gear teeth of follower belt gear side；
When the gear teeth are located at the inwall of wheel, the radius of the tooth crest of the follower belt gear teeth of described follower belt gear is big
In the radius of the annular outer wall of rotating disk, the gear teeth of the inwall of wheel engage with the follower belt gear teeth.
Described fixing device includes base, support；Wheel bearing seat is respectively equipped with the corner of the bottom surface of described base；
The front left side and right lateral side of the bottom surface of base are respectively equipped with vertical panel, and described vertical panel is located at former and later two of corresponding side respectively
Between wheel bearing seat, and leg motor axis hole is set respectively on two vertical panels, battery case is additionally provided among base；Described support bag
Include the middle bottom plate for being provided with battery hole, be respectively perpendicular arrangement riser at left and right sides of bottom plate, the lateral surface of riser be respectively perpendicular to
Provided with escape groove；The top of riser is provided with wheel bearing axis hole；The lateral surface of riser is sticked outside riser, and described slide opening is located at outer
It is on the riser of side and corresponding by groove with wall；The bottom of described support is fixed on above base, and the battery case and support of base
Battery hole it is corresponding；
The bottom of described battery is embedded in battery case, and the top of battery is passed through after battery hole in two risers
Between；Described battery uses the power interface of line connecting controller.
The inwall of described wheel is provided with inside and outside two wheel bearing grooves；
The medial surface axle on the top of described riser connects follower belt gear；Axle on the lateral surface on the nearly top of described riser
Connect wheel bearing；Described upper whorl axial is held meets place with the axle place of connecing of riser higher than the axle of follower belt gear and riser, and driven
The top surface of belt gear is higher than the top surface of riser；
The outer end of each wheel bearing seat of base is respectively adopted connecting shaft axle and connects a lower wheel bearing；
Two lower wheel bearings of corresponding side are embedded in the wheel bearing groove in the outside of the wheel of corresponding side, the upper whorl axial of corresponding side
Hold to be embedded and realize that inwall of the fixing device along wheel is rotatably connected in the wheel bearing groove of the inner side of the wheel of corresponding side；
Turbin generator and controller set up separately before and after the support on the base of side.
Described sufficient drive device includes leg motor, leg motor gear, leg gear, leg gear arm, described leg gear
Side is fixed on the medial surface of one end of leg gear arm；The lateral surface axle of the other end of leg gear arm connects midleg；Leg motor
The medial surface of gear sets deep gouge；The output shaft of described leg motor passes through the leg motor axis hole on the vertical panel of the base of corresponding side
Rear axle acting flange disk, the card of ring flange are embedded leg motor gear in the deep gouge of leg motor gear and fixed thereto, described
Engage leg gear；
Described position sensor is fixed on the riser of outside, and the one of the cage connection sensor transverse axis of position sensor
End, the central axis of described sensor transverse axis are axially in parallel with taking turns；The other end axle of sensor transverse axis connects sensor arm
One end, the other end of sensor arm set mounting hole, and one end axle of a leg transverse axis connects the top inner side face of leg, the other end of leg transverse axis
A fastener is fixed after sequentially passing through the slide opening of mounting hole, outside riser, fastener is embedded in the escape groove of riser.
Rear cross beam is provided between the trailing flank of two described risers, front beam is provided between the leading flank of two risers,
And the breach passed through for belt is provided among front beam；Corresponding position difference between the front beam and rear cross beam of breach both sides
Provided with the arc notch board for agreeing with follower belt gear；
The lateral surface on the top of described riser, which is provided with, agrees with the circular groove that upper whorl axial is held.
Heat emission hole is respectively equipped with base below corresponding turbin generator and below corresponding controller.
The turbin generator set casing that upper concavity groove is provided among one bottom surface is located at the top of two turbin generators in left and right, and will
Two turbin generator constraints are fixed between groove and base, are provided among the upper inner face of described turbin generator set casing and are supplied skin
The avoid holes that band passes through.
The lower forks of described leg connect a sole into former and later two branch's legs, each a point leg shaft.
The present invention compared with the existing technology, dexterously combines wheeled and sufficient formula, has evaded the deficiency of their locomotory mechanisms,
Learn from other's strong points to offset one's weaknesses, switch specific motion mode in specific environment, its locomotory mechanism is there is stronger efficiency and by property, adapt to
Most of road environments；And the combination of wheel and foot reduces the possibility of rollover, and accelerate the speed of traveling.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram in the embodiment of the present invention.
Fig. 2 is the dimensional structure diagram at another visual angle in the embodiment of the present invention, turbin generator set casing not shown in figure.
Fig. 3 is the exploded view at visual angle shown in Fig. 2.
Fig. 4 is the electric theory diagram in embodiment in the present invention.
Referring to Fig. 1~Fig. 3,1, sole；2nd, leg；2-1, leg transverse axis；2-2, leg transverse axis bearing；3rd, upper whorl axial is held；3-1, under
Wheel bearing；4th, controller；5th, sensor arm；6th, position sensor；6-1, sensor transverse axis；6-2, sensor fixation plate；7th, it is outer
Side riser；7-1, slide opening；8th, follower belt gear；8-1, wheel perforation；9th, take turns；10th, the gear teeth；11st, belt；12nd, battery；13rd, take turns
Motor；13-1, turbin generator set casing；13-2, avoid holes；14th, motor pulley；15th, leg motor；15-1, ring flange；16th, leg
Motor gear；17th, leg gear；18th, leg gear arm；19th, wheel bearing groove；20th, support；20-1, escape groove；20-2, breach；20-
3rd, battery hole；20-4, bottom plate；20-5, wheel bearing axis hole；20-6, follower belt gear shaft holes；20-7, arc notch board；20-8、
Circular groove；21st, base；21-1, leg motor axis hole；21-2, wheel bearing seat；21-3, battery case；21-4, heat emission hole.
Embodiment
The present invention is further illustrated below in conjunction with the accompanying drawings, and the present invention still compares for those skilled in the art
Clearly.
Referring to Fig. 1~Fig. 4, a kind of wheel biped robot of the present invention, it is characterised in that：Include the wheel 9 of annular shape；Described wheel
Madial wall on the uniform gear teeth 10；The leg 2 of two bottom axle pin palms 1；The fixing device being located in wheel 9；Described fixed dress
Put and be provided with slide opening 7-1 vertically upward；Wheel drive unit provided with follower belt gear 8；Sufficient drive device；Described foot driving
Position sensor 6 is additionally provided with device；Controller provided with wireless signal transceiver module；Battery 12；
Described fixing device is located in wheel 9, and inwall of the fixing device along wheel 9 is rotatably connected；
Described wheel drive unit, sufficient drive device, controller, battery are respectively provided at the different parts of fixing device；Institute
The follower belt gear 8 for the wheel drive unit stated engages with the gear teeth 10 of wheel 9；The top of described leg 2 is slided with slide opening 7-1 to be connected
Connect, the middle part of leg 2 connects with sufficient driving unit shaft；
The power interface of described controller is connected with the path of battery 12, and the first via signal end fifth wheel of controller 4 drives
The signal end of dynamic device, the second road signal end of controller 4 connect the signal input part of sufficient drive device, the signal of controller 4
The signal output part of input link position sensor 6；The signal of the signal output part link position sensor 6 of sufficient drive device
Input, the wireless signal transceiver module of controller are used for and remote control wireless telecommunications；
When using the operation of wheel 9, controller controls the leg rotation of sufficient drive device, while is moved upwards along slide opening 7-1, so
Control wheel drive unit to carry out driving wheel 9 afterwards to rotate.
Further, described fixing device includes base 21, support 20；The corner punishment of the bottom surface of described base 21
She You not wheel bearing seat 21-2；The front left side and right lateral side of the bottom surface of base 21 are respectively equipped with vertical panel, described vertical panel point
Not between former and later two wheel bearing seats 21-2 of corresponding side, and leg motor axis hole 21-1, bottom are set on two vertical panels respectively
Battery case 21-3 is additionally provided among seat 21；Described support 20 includes the middle bottom plate 20-4, bottom plate 20- for being provided with battery hole 20-3
4 left and right sides is respectively perpendicular arrangement riser, and the lateral surface of riser is respectively perpendicular to provided with escape groove 20-1；The top of riser is set
There is wheel bearing axis hole 20-5；The lateral surface of riser be sticked outside riser 7, described slide opening 7-1 be located at outside riser 7 on and and wall
Make groove 20-1 corresponding；The bottom of described support 20 is fixed on the top of base 21, and the battery case 21-3 of base and support 20
Battery hole 20-3 it is corresponding；The bottom of described battery 12 is embedded in battery case 21-3, and the top of battery 12 passes through battery
After the 20-3 of hole among two risers；Described battery uses the power interface of line connecting controller.
The inwall of described wheel 9 is provided with inside and outside two wheel bearing grooves 19；The medial surface axle on the top of described riser connect from
Dynamic belt gear 8；Axle connects wheel bearing 3 on the lateral surface on the nearly top of described riser；Described upper whorl axial holds the axle of 3 and riser
The place of connecing meets place higher than the axle of follower belt gear 8 and riser, and the top surface of follower belt gear 8 is higher than the top surface of riser；Base
21 each wheel bearing seat 21-2 outer end is respectively adopted connecting shaft axle and meets a lower wheel bearing 3-1；Two lower whorls of corresponding side
Bearing 3-1 is embedded in the wheel bearing groove 19 in the outside of the wheel 9 of corresponding side, and the upper whorl axial of corresponding side holds 3 and is embedded in corresponding side
Realize that inwall of the fixing device along wheel 9 is rotatably connected in the wheel bearing groove 19 of the inner side of wheel 9；Turbin generator 13 and controller 4 divide
It is located on the base 21 of the front and rear side of support 20.
Further, described sufficient drive device includes leg motor 15, leg motor gear 16, leg gear 17, leg gear arm
18, the side of described leg gear 17 is fixed on the medial surface of one end of leg gear arm 18；Outside the other end of leg gear arm 18
Side axle connects the middle part of leg 2；The medial surface of leg motor gear 16 sets deep gouge；The output shaft of described leg motor 15 passes through corresponding side
Base 21 vertical panel on leg motor axis hole 21-1 rear axle acting flanges disk 15-1, ring flange 15-1 card be embedded leg electricity
In the deep gouge of machine gear 16 and fixed thereto, described leg motor gear 16 engages leg gear 17；
Described position sensor 6 is fixed on the riser 7 of outside, and the cage connection sensor transverse axis of position sensor 6
6-1 one end, described sensor transverse axis 6-1 central axis are axially in parallel with taking turns；Sensor transverse axis 6-1 other end axle
One end of sensor arm 5 is connect, the other end of sensor arm 5 sets mounting hole, and one end axle of a leg transverse axis 2-1 is connect in the top of leg 2
Side, the leg transverse axis 2-1 other end fix a fastener, fastener after sequentially passing through the slide opening 7-1 of mounting hole, outside riser 7
It is embedded in the escape groove 20-1 of riser.
Further, described wheel drive unit is to include follower belt gear 8, motor pulley 14, turbin generator 13；Institute
The follower belt gear 8 stated includes using the one side in rotating disk to be installed with the follower belt gear teeth being uniformly distributed along the circumference, in rotating disk
Annular outer wall be provided with and be embedded the belt grooves of belt 11 and formed, this example turntable is integrally formed with the follower belt gear teeth；
The described axle of motor pulley 14 is connected on the output shaft of turbin generator 13, and motor pulley 14 uses skin with follower belt gear 8
Band 11 connects；The centerline axis parallel of the output shaft of turbin generator 13 is in the axial direction of wheel 9；
When the gear teeth 10 are located at the inwall of wheel in this example, the gear teeth avoid two wheel bearing grooves 19, described follower belt gear 8
The follower belt gear teeth tooth crest radius be more than rotating disk annular outer wall radius, the gear teeth 10 of the inwall of wheel and driven skin
Pulley teeth engages；This structure is relatively adapted to the situation for being provided with a wheel 9.
Using a wheel 9 in this example, wheel face is set wider to keep balance, is then respectively equipped with one in the both sides of wheel 9
Leg 2, when using wheel drive walking, leg lifts to top, and it drives driven skin by the wheel drive unit in fixing device
Band gear 8 rotates, then drives the gear teeth 10 being engaged with to rotate, and because inwall of the fixing device along wheel 9 can rotate, passes through adjustment
The mode of centre-of gravity shift makes wheel 9 produce motion, realizes the advance or setback of wheel 9.
When using foot motion, controller controls sufficient drive device driving leg rotation, drives pin same what is rotated
When also slide opening 7-1 limit being moved up and down up and down in linear position, when pin is lifted away from ground, then wheel land, until pin again
Secondary to land, the advance of both legs is realized in circulation successively.
When motion is used as using foot, both legs are equidirectional, synchronized move is to advance or retreat, both legs one positive one
Motion is rotation to opposite direction at the same speed, to ensure that the synchronized motion of both legs is to catch both legs by the position sensor on each foot
Altitude information, then control the direction of rotation of leg motor 15 and size to realize by altitude information synchronous.When both legs move
When liftoff, landed by wheel 9, to realize landing again for both legs, the advance of both legs is realized in circulation successively.
Embodiment 2
Referring to Fig. 1~4, this example is the further improvement on the basis of embodiment 1, and described wheel is provided with left and right two, respectively
Driven by a wheel drive unit；Described leg is provided with left and right two, is driven respectively by sufficient drive device, and two legs are distinguished
Positioned at the outside taken turns accordingly.
The gear teeth 10 are uniform along the madial wall of wheel in this example, and the described gear teeth 10 are set to cylindric, the center of the gear teeth 10
Axis is axially in parallel with wheel, and the described gear teeth 10 engage with the follower belt gear teeth of the side of follower belt gear 8；This structure
Compare and be adapted to the design provided with two-wheeled.
Further, rear cross beam is provided between the trailing flank of two described risers, is set between the leading flank of two risers
There is front beam, and the breach 20-2 passed through for belt is provided among front beam；Front beam and rear horizontal stroke in breach 20-2 both sides
Corresponding position between beam is respectively equipped with the arc notch board 20-7 for agreeing with follower belt gear 8；The outside on the top of described riser
Face, which is provided with, agrees with the circular groove 20-8 that upper whorl axial holds 3.
Further, it is respectively equipped with heat emission hole on the base 21 below corresponding turbin generator 13 and below corresponding controller
21-4。
Further, the turbin generator set casing 13-1 that upper concavity groove is provided among a bottom surface is located at the wheel electricity of left and right two
The top of machine 13, and two constraints of turbin generator 13 are fixed between groove and base 21, described turbin generator set casing 13-1
Upper inner face among be provided with for belt 11 pass through avoid holes 13-2.
In this example when using wheel driving, sole 1 lifts to top, and fortune is produced by way of adjusting centre-of gravity shift
Dynamic, two direction of rotation for taking turns 9 and rotary speed can be with independent controls, when two-wheeled 9 moves towards same direction, machine
Advance or retreat, when a positive and a negative of two-wheeled 9 rotates, machine rotation；
When using both legs as motion, the equidirectional synchronized motion of both legs is advances or retreated, and both legs one are just
Motion is rotation to one opposite direction at the same speed, to ensure that the synchronized motion of both legs is to catch the double-legged palm by each position sensor 6
Altitude information, then control the direction of rotation of leg motor 15 and size to realize by altitude information synchronous.When the fortune of the both feet palm 1
When dynamic liftoff, landed by double 9 wheels, to realize landing again for both feet, the advance of both feet is realized in circulation successively.
Claims (10)
1. one kind wheel biped robot, it is characterised in that：
Include the wheel (9) of annular shape；The uniform gear teeth (10) on the madial wall of described wheel or on inwall；
The leg (2) of two bottom axle pin palms (1)；
The fixing device being located in wheel (9)；Described fixing device is being provided with slide opening (7-1) vertically upward；
Wheel drive unit provided with follower belt gear (8)；
Sufficient drive device；Position sensor (6) is additionally provided with described sufficient drive device；
Controller provided with wireless signal transceiver module；
Battery (12)；
Described fixing device is located in wheel (9), and inwall of the fixing device along wheel (9) is rotatably connected；
Described wheel drive unit, sufficient drive device, controller, battery are respectively provided at the different parts of fixing device；
The follower belt gear (8) of described wheel drive unit engages with taking turns the gear teeth (10) of (9)；
The top of described leg (2) is slidably connected with slide opening (7-1), and middle part and the sufficient driving unit shaft of leg (2) connect；
The power interface of described controller is connected with battery (12) path, and the first via signal end fifth wheel of controller (4) drives
The signal end of dynamic device, the second road signal end of controller (4) connect the signal input part of sufficient drive device, controller (4)
The signal output part of signal input part link position sensor (6)；The signal output part link position sensor of sufficient drive device
(6) signal input part；The wireless signal transceiver module of controller is used for and remote control wireless telecommunications；
When using wheel (9) operation, controller controls the leg rotation of sufficient drive device, while is moved upwards along slide opening (7-1), so
Control wheel drive unit carrys out driving wheel (9) rotation afterwards；
When using sufficient motion, controller controls sufficient drive device driving leg rotation, drives pin to be gone back while rotating
Moved up and down up and down in linear position what slide opening (7-1) limited, when pin is lifted away from ground, then wheel lands, until pin is again
Land, the advance of biped is realized in circulation successively.
A kind of 2. wheel biped robot as claimed in claim 1, it is characterised in that：
Described wheel drive unit is to include follower belt gear (8), motor pulley (14), turbin generator (13)；It is described from
Dynamic belt gear (8) includes using the one side in rotating disk to be installed with the follower belt gear teeth being uniformly distributed along the circumference, in the ring of rotating disk
Shape outer wall is formed provided with the belt grooves for being embedded belt (11)；Described motor pulley (14) axle is connected on turbin generator (13)
Output shaft on, motor pulley (14) is connected with follower belt gear (8) using belt (11)；The output shaft of turbin generator (13)
Centerline axis parallel in wheel (9) axial direction；
When madial wall of the gear teeth (10) along wheel is uniform, the described gear teeth (10) are set to cylindric, the center of the gear teeth (10)
Axis is axially in parallel with wheel, and the described gear teeth (10) engage with the follower belt gear teeth of follower belt gear (8) side；
When the gear teeth (10) are located at the inwall of wheel, the half of the tooth crest of the follower belt gear teeth of described follower belt gear (8)
Footpath is more than the radius of the annular outer wall of rotating disk, and the gear teeth (10) of the inwall of wheel engage with the follower belt gear teeth.
A kind of 3. wheel biped robot as claimed in claim 1, it is characterised in that：Described wheel be provided with left and right two, respectively by
One wheel drive unit driving；Described leg is provided with left and right two, is driven respectively by sufficient drive device.
A kind of 4. wheel biped robot as claimed in claim 3, it is characterised in that：
Described fixing device includes base (21), support (20)；It is respectively equipped with the corner of the bottom surface of described base (21)
Wheel bearing seat (21-2)；The front left side and right lateral side of the bottom surface of base (21) are respectively equipped with vertical panel, described vertical panel difference
Between former and later two wheel bearing seats (21-2) of corresponding side, and leg motor axis hole (21-1) is set on two vertical panels respectively,
Battery case (21-3) is additionally provided among base (21)；Described support (20) includes the middle bottom plate for being provided with battery hole (20-3)
(20-4), arrangement riser is respectively perpendicular at left and right sides of bottom plate (20-4), the lateral surface of riser is respectively perpendicular to provided with escape groove
(20-1)；The top of riser is provided with wheel bearing axis hole (20-5)；The lateral surface of riser be sticked outside riser (7), described slide opening
(7-1) is located on outside riser (7) and corresponding by groove (20-1) with wall；The bottom of described support (20) is fixed on base
(21) top, and the battery case (21-3) of base is corresponding with the battery hole (20-3) of support (20)；
The bottom of described battery (12) is embedded in the battery case (21-3), after the top of battery (12) passes through battery hole (20-3)
Among two risers；Described battery uses the power interface of line connecting controller.
A kind of 5. wheel biped robot as claimed in claim 4, it is characterised in that：
The inwall of described wheel (9) is provided with inside and outside two wheel bearing grooves (19)；
The medial surface axle on the top of described riser connects follower belt gear (8)；Axle on the lateral surface on the nearly top of described riser
Connect wheel bearing (3)；Described upper whorl axial holds (3) and the axle place of connecing of riser connects higher than the axle of follower belt gear (8) and riser
Place, and the top surface of follower belt gear (8) is higher than the top surface of riser；
The outer end of each wheel bearing seat (21-2) of base (21) is respectively adopted connecting shaft axle and connects a lower wheel bearing (3-1)；
Two lower wheel bearings (3-1) of corresponding side are embedded in the wheel bearing groove (19) in the outside of the wheel (9) of corresponding side, corresponding side
Upper whorl axial hold (3) and be embedded in the wheel bearing groove (19) in the inner side of the wheel (9) of corresponding side and realize fixing device along the interior of wheel (9)
Wall is rotatably connected；
Turbin generator (13) and controller (4) set up separately before and after the support (20) on the base (21) of side.
A kind of 6. wheel biped robot as claimed in claim 4, it is characterised in that：
Described sufficient drive device includes leg motor (15), leg motor gear (16), leg gear (17), leg gear arm (18), institute
The side for the leg gear (17) stated is fixed on the medial surface of one end of leg gear arm (18)；Outside the other end of leg gear arm (18)
Side axle connects the middle part of leg (2)；The medial surface of leg motor gear (16) sets deep gouge；The output shaft of described leg motor (15) passes through
Leg motor axis hole (21-1) rear axle acting flange disk (15-1) on the vertical panel of the base (21) of corresponding side, ring flange (15-1)
Card is embedded leg motor gear (16) engagement leg gear in the deep gouge of leg motor gear (16) and fixed thereto, described
(17)；
Described position sensor (6) is fixed on outside riser (7), and the cage connection sensor of position sensor (6) is horizontal
One end of axle (6-1), the central axis of described sensor transverse axis (6-1) are axially in parallel with taking turns；Sensor transverse axis (6-1)
Other end axle connects one end of sensor arm (5), and the other end of sensor arm (5) sets mounting hole, one end axle of a leg transverse axis (2-1)
The top inner side face of leg (2) is connect, the other end of leg transverse axis (2-1) sequentially passes through the slide opening (7-1) of mounting hole, outside riser (7)
After fix a fastener, fastener is embedded in the escape groove (20-1) of riser.
A kind of 7. wheel biped robot as claimed in claim 4, it is characterised in that：
Rear cross beam is provided between the trailing flank of two described risers, front beam is provided between the leading flank of two risers, and it is preceding
The breach (20-2) passed through for belt is provided among crossbeam；Phase between the front beam and rear cross beam of breach (20-2) both sides
Should place be respectively equipped with the arc notch board (20-7) for agreeing with follower belt gear (8)；
The lateral surface on the top of described riser, which is provided with, agrees with the circular groove (20-8) that upper whorl axial holds (3).
A kind of 8. wheel biped robot as claimed in claim 5, it is characterised in that：Corresponding turbin generator (13) lower section and corresponding control
Heat emission hole (21-4) is respectively equipped with base (21) below device processed.
A kind of 9. wheel biped robot as claimed in claim 3, it is characterised in that：The wheel of upper concavity groove is provided among one bottom surface
Motor set casing (13-1) is located at the top of two turbin generators (13) in left and right, and the constraint of two turbin generators (13) is fixed on recessed
It is provided between groove and base (21), among the upper inner face of described turbin generator set casing (13-1) and is passed through for belt (11)
Avoid holes (13-2).
A kind of 10. wheel biped robot as claimed in claim 1, it is characterised in that：The lower forks of described leg are into front and rear two
Individual branch's leg, each a point leg shaft connect a sole (1).
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| CN201610498220.0A CN106080828B (en) | 2016-06-30 | 2016-06-30 | One kind wheel biped robot |
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| CN106080828A CN106080828A (en) | 2016-11-09 |
| CN106080828B true CN106080828B (en) | 2018-01-26 |
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| CN107662662A (en) * | 2017-09-20 | 2018-02-06 | 深圳市行者机器人技术有限公司 | A kind of four-wheel biped robot |
| CN112429111B (en) * | 2020-11-23 | 2021-09-03 | 佳木斯大学 | Robot based on computer control |
| CN113335412B (en) * | 2021-05-12 | 2022-10-14 | 上海工程技术大学 | Gorilla bionic walking robot |
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| CN202320578U (en) * | 2011-11-06 | 2012-07-11 | 中国矿业大学 | Wheel leg mechanism with continuously engaging gears |
| CN102765433A (en) * | 2012-07-16 | 2012-11-07 | 上海大学 | Novel wheel-leg type robot with variable structure |
| CN103241303A (en) * | 2013-05-13 | 2013-08-14 | 东南大学 | Wheel leg type mobile robot with flexible trunk |
| CN105416429A (en) * | 2015-12-10 | 2016-03-23 | 华南理工大学 | Walking mechanism for wall-climbing robot |
| CN205916225U (en) * | 2016-06-30 | 2017-02-01 | 上海智位机器人股份有限公司 | Sufficient robot of wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8424621B2 (en) * | 2010-07-23 | 2013-04-23 | Toyota Motor Engineering & Manufacturing North America, Inc. | Omni traction wheel system and methods of operating the same |
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|---|---|---|---|---|
| CN202320578U (en) * | 2011-11-06 | 2012-07-11 | 中国矿业大学 | Wheel leg mechanism with continuously engaging gears |
| CN102765433A (en) * | 2012-07-16 | 2012-11-07 | 上海大学 | Novel wheel-leg type robot with variable structure |
| CN103241303A (en) * | 2013-05-13 | 2013-08-14 | 东南大学 | Wheel leg type mobile robot with flexible trunk |
| CN105416429A (en) * | 2015-12-10 | 2016-03-23 | 华南理工大学 | Walking mechanism for wall-climbing robot |
| CN205916225U (en) * | 2016-06-30 | 2017-02-01 | 上海智位机器人股份有限公司 | Sufficient robot of wheel |
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| CN106080828A (en) | 2016-11-09 |
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