CN106184456A - A kind of agent structure can the leg-wheel robot of multi-stage expansion - Google Patents
A kind of agent structure can the leg-wheel robot of multi-stage expansion Download PDFInfo
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- CN106184456A CN106184456A CN201610531552.4A CN201610531552A CN106184456A CN 106184456 A CN106184456 A CN 106184456A CN 201610531552 A CN201610531552 A CN 201610531552A CN 106184456 A CN106184456 A CN 106184456A
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- robot
- 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
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention relates to a kind of agent structure can the leg-wheel robot of multi-stage expansion, be mainly made up of four agent structures, four groups of lower limb formula structure walking subsystems and four groups of telescopic units；It is a class cuboid that described four agent structures combine, and is connected by one group of telescopic unit between each two agent structure, and each agent structure is installed one group of lower limb formula structure walking subsystem.Robot of the present invention not only possesses the high obstacle performance of legged mobile robot and the high-adaptability energy to complicated landform, also has both the high-speed and high-efficiency performance of wheeled robot, and can adjust the agent structure size of robot according to the size of barrier.Robot of the present invention can complete 3 extensional deformations in the case of agent structure is shunk completely, enhances the practicality of leg-wheel robot, not only increases efficiency, reduces cost, also improves leg-wheel robot adaptability in unstructured moving grids.
Description
Technical field
The present invention relates to a kind of agent structure can the leg-wheel robot of multi-stage expansion, belong to mixing mobile robot technology
Field.
Background technology
In the unstructured moving grids such as planetary detection, military surveillance, mining, the anti-terrorism removal of mines, leg-wheel robot is sent out
Waving the most important effect, it not only possesses the high obstacle performance of legged mobile robot, and possesses the height of wheeled robot
Speed efficiently performance, it can effectively alleviate human work's intensity, protects personal safety and complete the work that the mankind have been difficult to.
In existing leg-wheel robot structure designs, the agent structure of robot is typically an entirety, does not possesses
Telescopic ability, this just greatly limit robot manipulating task environment.The invention provides a kind of agent structure can multi-stage expansion
Leg-wheel robot, the deformation of agent structure according to the difference of working environment, can be adjusted by telescopic unit, add wheel
Legged mobile robot service ability in unstructured moving grids.
Summary of the invention
It is an object of the invention to the deficiency overcoming prior art to exist, it is provided that a kind of agent structure can the wheel of multi-stage expansion
Legged mobile robot.
For reaching above-mentioned purpose, the present invention uses following technical proposals:
A kind of agent structure can the leg-wheel robot of multi-stage expansion, mainly by four agent structures, four groups of lower limb formula structures walkings
Subsystem and four groups of telescopic unit compositions；It is a class cuboid that described four agent structures combine, each two body junction
Connected by one group of telescopic unit between structure, each agent structure is installed one group of lower limb formula structure walking subsystem.
The structure of described four agent structures is identical, and inside is provided with interior motor and shaft coupling, and shaft coupling is connected to interior motor
Output shaft on；Below agent structure, center is fixed with a wheel carrier, and described wheel carrier and a vehicle wheel rotation connect, one
Outer motor is arranged on described wheel carrier, and the output shaft of described outer motor connects wheel.
Described four groups of lower limb formula structures walking subsystem structure is identical, including connecting rod base, waist joint, upper steering wheel, thigh, lower rudder
Machine, shank, foot, described connecting rod base is fixedly connected in agent structure, and described waist joint is rotationally connected with connecting rod base, and by upper
Servo driving, described waist joint is rotationally connected by pin with one end of described thigh, the other end of described thigh and described shank
One end be rotationally connected by pin, and by lower servo driving, the other end of described shank is elastic with described foot to be connected.
Described four groups of telescopic unit structures are identical, comprise one-level telescopic joint, two grades of telescopic joints and three grades of telescopic joints, and described one
Level telescopic joint is fixed on inside agent structure, and described three grades of telescopic joints are connected with shaft coupling.Telescopic unit is selected and is passed based on spiral
Dynamic multistage nested telescoping mechanism.Have that simple in construction, lightweight, magnification be relatively big, easily processing, lower-cost advantage.One
Level telescopic joint, two grades of telescopic joints, three grades of telescopic joints are the body element of whole telescopic unit, move through screw thread between three
Transmitting, wherein, screw thread selects trapezoidal thread, it is ensured that telescoping mechanism has preferable centering, self-locking performance and manufacturability.One
The level female thread of telescopic joint and the external screw thread of two grades of telescopic joints match, outside the female thread of two grades of telescopic joints and three grades of telescopic joints
Screw thread matches, and belongs to matched in clearance between adjacent two-stage telescopic joint.Fig. 7 show the internal and external threads view of two grades of telescopic joints.
Away from one another in order to prevent between two-stage telescopic joint, have also been devised the spacing shaft shoulder.Wherein, one-level telescopic joint and three grades of telescopic joints
Top is provided with jackscrew, as shown in figs. 5 and 9, in order to telescopic unit and motor output shaft fix.Many based on worm drive
The intensity of material and the requirement of hardness, in telescopic process, along with the enhancing of telescopic unit progression, are increased by the nested telescoping mechanism of level
By force.Therefore, the type selecting to telescopic joint material should be chosen intensity and hardness in the material increasing trend, it is ensured that telescopic unit
The stationarity of motion.
Compared with prior art, present invention have the advantage that:
The device people of present invention design can not only realize the motion of lower limb formula and 4 wheel type movement taken turns of 4 lower limbs, and at the barrier of climbing
When hindering thing height higher, wheel can advance as the operation that supporting member makes robot more efficient, thus it is mutual to realize taking turns lower limb
The forms of motion coordinated.Not only possess the high obstacle performance of legged mobile robot and the high-adaptability energy to complicated landform, also have both
The high-speed and high-efficiency performance of wheeled robot, and the agent structure size of robot can be adjusted according to the size of barrier,
Enhance the practicality of leg-wheel robot, improve leg-wheel robot adaptability in unstructured moving grids.In future
Robot field have bigger development space.
Accompanying drawing explanation
Fig. 1 is that the present invention can the population structure schematic diagram of leg-wheel robot of multi-stage expansion.
Fig. 2 is that the present invention can the pedipulator foot close-up schematic view of leg-wheel robot of multi-stage expansion.
Fig. 3 be the present invention can multi-stage expansion leg-wheel robot agent structure in motor and shaft coupling dispose signal
Figure.
Fig. 4 be the present invention can multi-stage expansion leg-wheel robot lower limb formula pattern next stage stretch population structure schematic diagram.
Fig. 5 is that the present invention can the one-level telescopic joint generalized section of leg-wheel robot telescopic unit of multi-stage expansion.
Fig. 6 is that the present invention lower two grades of the leg-wheel robot lower limb formula pattern of multi-stage expansion can stretch population structure schematic diagrams.
Fig. 7 is that the present invention can two grades of telescopic joint generalized sections of leg-wheel robot telescopic unit of multi-stage expansion.
Fig. 8 is that the present invention lower three grades of the leg-wheel robot lower limb formula pattern of multi-stage expansion can stretch population structure schematic diagrams.
Fig. 9 is that the present invention can three grades of telescopic joint generalized sections of leg-wheel robot telescopic unit of multi-stage expansion.
Figure 10 be the present invention can multi-stage expansion leg-wheel robot wheeled pattern next stage stretch population structure schematic diagram.
Figure 11 is that the present invention can the structure of agent structure deflated state under the leg-wheel robot lower limb formula pattern of multi-stage expansion
Schematic diagram.
Figure 12 is that the present invention can the structure of agent structure deflated state under the wheeled pattern of leg-wheel robot of multi-stage expansion
Schematic diagram.
Figure 13 (a-i) is that the present invention can the knot of across obstacle under the leg-wheel robot one-level stretching mode of multi-stage expansion
Structure schematic diagram.
Detailed description of the invention
It is as follows that the preferred embodiments of the present invention combine detailed description:
See Fig. 1～Figure 13, a kind of agent structure can the leg-wheel robot of multi-stage expansion, mainly by four agent structures, four
Group lower limb formula structure walking subsystem and four groups of telescopic unit compositions；It is that a class is rectangular that described four agent structures combine
Body, is connected by one group of telescopic unit between each two agent structure, and each agent structure is installed one group of lower limb formula structure walking
Subsystem.
The structure of described four agent structures is identical, and inside is provided with interior motor 14 and shaft coupling 15, and shaft coupling 15 is connected to
On the output shaft of interior motor 14；Below agent structure, center is fixed with a wheel carrier 6, described wheel carrier 6 and wheel 4 turns
Being dynamically connected, an outer motor 5 is arranged on described wheel carrier 6, and the output shaft of described outer motor 5 connects wheel 4.
Described four groups of lower limb formula structures walking subsystem structure is identical, including connecting rod base 7, waist joint 8, upper steering wheel 9, thigh
10, lower steering wheel 11, shank 12, foot 13, described connecting rod base 7 is fixedly connected in agent structure, described waist joint 8 and connecting rod base 7
Being rotationally connected, and driven by upper steering wheel 9, described waist joint 8 is rotationally connected by pin with one end of described thigh 10, described greatly
The other end of lower limb 10 is rotationally connected by pin with one end of described shank 12, and is driven by lower steering wheel 11, described shank 12
The other end is connected with described foot 13 elasticity.
Described four groups of telescopic unit structures are identical, comprise 1, two grades of telescopic joints 2 of one-level telescopic joint and three grades of telescopic joints 3, institute
Stating one-level telescopic joint 1 and be fixed on inside agent structure, described three grades of telescopic joints 3 are connected with shaft coupling 15.
The present embodiment agent structure can the leg-wheel robot operation principle of multi-stage expansion as follows:
Robot of the present invention can realize two kinds of operational modes: lower limb formula is run and wheeled operation, and in two kinds of operational modes, passes through
Control mechanical movement means telescopic unit flexible regulate and control integrated model size to realize the change of running environment.
Under robot is in lower limb formula operational mode, wheel is in vacant state.Under this pattern, robot can be rugged
Under environment, obstacle detouring runs.When robot running runs into barrier, lower limb formula structure walking subsystem、With
On steering wheel provide certain torque to make thigh and shank that relative motion not occur, lower limb formula structure walking subsystemOn upper rudder
The operating of machine 9 and lower steering wheel 11 adjusts thigh 10, the running status of shank 12, makes the walking subsystem V lifting of lower limb formula structure run
On barrier, as shown in Figure 13 (a)；Then, lower limb formula structure walking subsystem、WithOn steering wheel provide certain
Torque make thigh and shank that relative motion not occur, lower limb formula structure walking subsystemOn steering wheel adjust thigh and shank
Deformation so that it is lifting runs on barrier, as shown in Figure 13 (b)；In like manner, lower limb formula structure walking subsystemLift with VIII
Rise and run on barrier；So far, robot is on barrier, as shown in Figure 13 (d).Then, lower limb formula structure walking
System、、WithOn steering wheel rotate make the overall barycenter of robot move down；Lower limb formula structure walking subsystem、WithOn steering wheel provide certain torque to make thigh and shank that relative motion not occur, lower limb formula structure walking subsystemOn steering wheel adjust thigh and the deformation of shank so that it is fall to running on road surface, such as Figure 13 (e)；In like manner, lower limb formula structure row
Walking subsystem VI, VII and VIII to fall to running to road surface, as shown in Figure 13 (f-h), robot completes across obstacle this moment
Operation, as Figure 13 (i) shown in.When robot keep straight on need turn time, can by change lower limb formula structure walking subsystem on upper
The operating of steering wheel controls turning to of waist joint, and then realizes the control to robot traffic direction, reaches curving effect with this.
The running status of the steering wheel on control lower limb formula structure walking subsystem, makes lower limb formula structure walking subsystem V, VI, VII
Being raised to above wheel with VIII, robot enters wheeled work pattern, as illustrated in figs. 10 and 12.Under this pattern, robot fits
It is combined on smooth road surface operation.The speed of service of robot is regulated and controled by the rotation status of outer motor 5.
When robot is at minimum space motion, need adjust mechanical movement means telescopic unit be telescoped up to reduce
Form, main body mechanismStart with the interior motor 14 of IV so that two groups, left and right agent structure is mutually drawn close until closing up, this
Carve agent structureStop operating with the interior motor 14 of IV；Then, the interior motor 14 of agent structure II and III starts so that front
Rear two groups of agent structures are mutually drawn close until closing up, agent structure II and the interior motor stalls of III, robot this moment
Complete to reduce form, as is illustrated by figs. 11 and 12.Robot of the present invention can complete 3 in the case of agent structure full extension
Secondary contraction distortion is until minimum form, and in robot running, it is suitable to select according to the change in running environment space
Reduce form, adapt to different running environment.
When there is low-lying wide gap in robot operation front, no matter it is in wheeled pattern or lower limb formula pattern, all can be by stretching
The flexible of contracting unit makes robot overall structure be stretched over suitable state.Robot of the present invention is complete holosystolic in agent structure
In the case of can complete 3 extensional deformations.First it is the stretching, extension of one-level telescopic joint 1, as shown in Figure 4；Next to that two grades of telescopic joints 2
Stretching, extension, as shown in Figure 6；It is finally the stretching, extension of three grades of telescopic joints 3, completes altogether three times and stretch, as shown in Figure 8.Two grades are stretched
Joint inner port is provided with keyway, and the one-level telescopic joint shaft shoulder is provided with the key matched, when one-level telescopic joint full extension when,
Key on the shaft shoulder can be embedded in the keyway in two grades of telescopic joint inner port, then drives two grades of telescopic joints to stretch, and three grades are stretched
Joint inner port is provided with keyway, and two grades of telescopic joint shaft shoulders are provided with the key matched, when two grades of telescopic joint full extension when,
Key on the shaft shoulder can be embedded in the keyway in three grades of telescopic joint inner port, then drives the stretching, extension of three grades of telescopic joints, has completed
Full stretching.Under lower limb formula pattern, the stretching, extension of agent structure still can be combined with the rotation of waist joint makes pedipulator expand to maximum
Limit, directly crosses over wide gap.
Claims (4)
1. an agent structure can the leg-wheel robot of multi-stage expansion, it is characterised in that mainly by four agent structures, four groups
Lower limb formula structure walking subsystem and four groups of telescopic unit compositions；It is a class cuboid that described four agent structures combine,
Connected by one group of telescopic unit between each two agent structure, each agent structure is installed one group of lower limb formula structure walking subsystem
System.
A kind of agent structure the most according to claim 1 can the leg-wheel robot of multi-stage expansion, it is characterised in that described
The structure of four agent structures is identical, and inside is provided with interior motor (14) and shaft coupling (15), and shaft coupling (15) is connected to interior motor
(14) on output shaft；Below agent structure, center is fixed with a wheel carrier (6), described wheel carrier (6) and a wheel (4)
Being rotationally connected, an outer motor (5) is arranged on described wheel carrier (6), and the output shaft of described outer motor (5) connects wheel (4).
A kind of agent structure the most according to claim 1 can the leg-wheel robot of multi-stage expansion, it is characterised in that described
Four groups of lower limb formula structures walking subsystem structures are identical, including connecting rod base (7), waist joint (8), upper steering wheel (9), thigh (10), under
Steering wheel (11), shank (12), foot (13), described connecting rod base (7) is fixedly connected in agent structure, described waist joint (8) and company
Pole socket (7) is rotationally connected, and is driven by upper steering wheel (9), and described waist joint (8) is turned by pin with one end of described thigh (10)
Being dynamically connected, the other end of described thigh (10) is rotationally connected by pin with one end of described shank (12), and by lower steering wheel
(11) driving, the other end of described shank (12) is connected with described foot (13) elasticity.
A kind of agent structure the most according to claim 1 can the leg-wheel robot of multi-stage expansion, it is characterised in that described
Four groups of telescopic unit structures are identical, comprise one-level telescopic joint (1), two grades of telescopic joints (2) and three grades of telescopic joints (3), described one-level
Telescopic joint (1) is fixed on inside agent structure, and described three grades of telescopic joints (3) are connected with shaft coupling (15).
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| CN201610531552.4A CN106184456A (en) | 2016-07-08 | 2016-07-08 | A kind of agent structure can the leg-wheel robot of multi-stage expansion |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627830A (en) * | 2017-01-17 | 2017-05-10 | 吴逸帆 | Wheeled-leg hybrid mobile robot |
| CN106695801A (en) * | 2017-02-24 | 2017-05-24 | 浙江师范大学 | Multi-functional rescue robot |
| CN106892016A (en) * | 2017-02-15 | 2017-06-27 | 华南理工大学 | A kind of waist structure for turning to for being applied to quadruped robot |
| CN107187511A (en) * | 2017-04-25 | 2017-09-22 | 西北工业大学 | Becoming wheelbase can obstacle detouring industrial robot omnidirectional chassis |
| CN108249347A (en) * | 2017-12-11 | 2018-07-06 | 安徽宝辰机电设备科技有限公司 | A kind of step-by-step movement mobile lifting device |
| CN108657307A (en) * | 2018-06-19 | 2018-10-16 | 昆明理工大学 | A kind of four-footed walking robot with flexible waist |
| CN109774815A (en) * | 2018-11-21 | 2019-05-21 | 中北大学 | A kind of conversion traveling method of fire-fighting robot |
| CN109911052A (en) * | 2019-03-18 | 2019-06-21 | 华南理工大学 | A kind of wheel leg type multi-mode inspection search and rescue robot |
| CN109927498A (en) * | 2019-04-12 | 2019-06-25 | 中南大学 | The changeable amphibious quadrotor robot of body |
| CN110461690A (en) * | 2017-03-29 | 2019-11-15 | 株式会社久保田 | Operation Van |
| CN110510028A (en) * | 2019-10-12 | 2019-11-29 | 常州兰迪科技有限公司 | A kind of polypody stair climbing robot and control method |
| CN110588832A (en) * | 2019-10-15 | 2019-12-20 | 中南大学 | Multi-foot type all-terrain robot |
| CN112623065A (en) * | 2021-02-04 | 2021-04-09 | 德鲁动力科技(成都)有限公司 | Simple quadruped robot structure |
| CN113635721A (en) * | 2021-08-19 | 2021-11-12 | 西安戴森电子技术有限公司 | Air-land amphibious biped wheel multi-mode walking flying bionic robot |
| WO2021250713A1 (en) * | 2020-06-09 | 2021-12-16 | Nardi, Cosmo | Telescopic robotic base for the inclusion in itself of other robots |
| IT202000030275A1 (en) * | 2020-12-10 | 2022-06-10 | Pierluigi Martini | FURNISHING ELEMENTS THAT CAN BE INSERTED IN A UNIVERSAL ROBOTIC BASE |
| CN114802522A (en) * | 2022-04-24 | 2022-07-29 | 吉林大学 | Modularized attachable leg-foot type walking device and control method |
| CN109911052B (en) * | 2019-03-18 | 2024-04-30 | 华南理工大学 | Wheel leg type multi-mode inspection search and rescue robot |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627830A (en) * | 2017-01-17 | 2017-05-10 | 吴逸帆 | Wheeled-leg hybrid mobile robot |
| CN106892016A (en) * | 2017-02-15 | 2017-06-27 | 华南理工大学 | A kind of waist structure for turning to for being applied to quadruped robot |
| CN106695801A (en) * | 2017-02-24 | 2017-05-24 | 浙江师范大学 | Multi-functional rescue robot |
| CN106695801B (en) * | 2017-02-24 | 2023-03-21 | 浙江师范大学 | Multifunctional rescue robot |
| CN110461690A (en) * | 2017-03-29 | 2019-11-15 | 株式会社久保田 | Operation Van |
| CN107187511A (en) * | 2017-04-25 | 2017-09-22 | 西北工业大学 | Becoming wheelbase can obstacle detouring industrial robot omnidirectional chassis |
| CN107187511B (en) * | 2017-04-25 | 2019-03-29 | 西北工业大学 | Becoming wheelbase can obstacle detouring industrial robot omnidirectional chassis |
| CN108249347A (en) * | 2017-12-11 | 2018-07-06 | 安徽宝辰机电设备科技有限公司 | A kind of step-by-step movement mobile lifting device |
| CN108657307A (en) * | 2018-06-19 | 2018-10-16 | 昆明理工大学 | A kind of four-footed walking robot with flexible waist |
| CN108657307B (en) * | 2018-06-19 | 2023-09-15 | 昆明理工大学 | Four-foot walking robot with flexible waist |
| CN109774815A (en) * | 2018-11-21 | 2019-05-21 | 中北大学 | A kind of conversion traveling method of fire-fighting robot |
| CN109774815B (en) * | 2018-11-21 | 2021-05-14 | 中北大学 | Conversion walking method of fire-fighting robot |
| CN109911052A (en) * | 2019-03-18 | 2019-06-21 | 华南理工大学 | A kind of wheel leg type multi-mode inspection search and rescue robot |
| CN109911052B (en) * | 2019-03-18 | 2024-04-30 | 华南理工大学 | Wheel leg type multi-mode inspection search and rescue robot |
| CN109927498A (en) * | 2019-04-12 | 2019-06-25 | 中南大学 | The changeable amphibious quadrotor robot of body |
| CN110510028A (en) * | 2019-10-12 | 2019-11-29 | 常州兰迪科技有限公司 | A kind of polypody stair climbing robot and control method |
| CN110588832A (en) * | 2019-10-15 | 2019-12-20 | 中南大学 | Multi-foot type all-terrain robot |
| CN110588832B (en) * | 2019-10-15 | 2022-04-15 | 中南大学 | Multi-foot type all-terrain robot |
| WO2021250713A1 (en) * | 2020-06-09 | 2021-12-16 | Nardi, Cosmo | Telescopic robotic base for the inclusion in itself of other robots |
| IT202000030275A1 (en) * | 2020-12-10 | 2022-06-10 | Pierluigi Martini | FURNISHING ELEMENTS THAT CAN BE INSERTED IN A UNIVERSAL ROBOTIC BASE |
| CN112623065A (en) * | 2021-02-04 | 2021-04-09 | 德鲁动力科技(成都)有限公司 | Simple quadruped robot structure |
| CN113635721A (en) * | 2021-08-19 | 2021-11-12 | 西安戴森电子技术有限公司 | Air-land amphibious biped wheel multi-mode walking flying bionic robot |
| CN114802522A (en) * | 2022-04-24 | 2022-07-29 | 吉林大学 | Modularized attachable leg-foot type walking device and control method |
| CN114802522B (en) * | 2022-04-24 | 2023-02-10 | 吉林大学 | Modularized attachable leg-foot type walking device and control method |
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Application publication date: 20161207 |