CN106828651B - A kind of sufficient kinematic robot of deformable wheel - Google Patents
A kind of sufficient kinematic robot of deformable wheel Download PDFInfo
- Publication number
- CN106828651B CN106828651B CN201710047169.6A CN201710047169A CN106828651B CN 106828651 B CN106828651 B CN 106828651B CN 201710047169 A CN201710047169 A CN 201710047169A CN 106828651 B CN106828651 B CN 106828651B
- Authority
- CN
- China
- Prior art keywords
- steering engine
- wheel
- trunk
- leg exercise
- sufficient
- 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.)
- Active
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of sufficient kinematic robots of deformable wheel, including control system and mechanical system, mechanical system includes trunk, wheel type motion mechanism and four leg exercise mechanisms with freedom degree of doing more physical exercises being mounted on trunk, wheel type motion mechanism includes the four wheels for being mounted on mechanical system rear portion and the driving motor for driving at least one wheel, each leg exercise mechanism includes several steering engines being serially connected, the output shaft of each steering engine is mutually perpendicular to, control system controls each steering engine rotation to adjust the pose of each leg exercise mechanism, this passes through the setting of leg exercise mechanism and wheel type motion mechanism, it is moved when level land moves using wheel type motion mechanism, when meeting with complicated landform, by adjusting the leg exercise mechanism pose of front and back to realize the motor pattern switching between wheel type movement and sufficient formula movement, the deformable wheel is transported enough Mobile robot moves flexible, strong environmental adaptability, and the invention is used for quadruped robot technical field.
Description
Technical field
The present invention relates to quadruped robot technical fields, more particularly to a kind of sufficient kinematic robot of deformable wheel.
Background technique
As the continuous development of robot technology utilizes kinematic robot when facing adverse circumstances and complicated landform
To enhance, its landform adapts to deformation function and autokinetic movement ability is a kind of developed recently robot technology faster.Compared to wheel
Formula, crawler type or general sufficient formula kinematic robot, wheel can deformation type robot there is the spy that obstacle climbing ability is strong, movement velocity is high
Point.
It is found after analyzing the mobile robot under domestic and international complex environment, the movement mechanism of current robot mainly uses
The forms such as ratcheting mechanism, crawler type mechanism, Tui Shi mechanism and their composite structure.Ratcheting mechanism movement speed quickly, is controlled
System is also simple, but shows in terms of obstacle detouring very poor；Crawler type organizational environment adaptability is very strong, after especially having added swing arm,
But energy consumption is high；Leg formula structure, it is low to environmental requirement since the sufficient end of robot and ground are point contacts, thus obstacle climbing ability
By force, but movement velocity is low, and structure and control are all complex；Composite structure such as carries out leg formula, wheel shoe formula, wheel leg type even
Wheel carries out leg formula, often combines the advantages of its various aspects, plays respectively best performance advantage, using also increasingly
Extensively, but its control has certain complexity.
In view of the functional requirement of the mobile-robot system of operation under complex environment, it is deformable that urgent need designs a kind of four-footed
Wheel leg move the mobile robot that combines, carry sensor, and can be remotely controlled.
Summary of the invention
To solve the above problems, the present invention provides, a kind of movement is flexible, strong environmental adaptability deformable wheel is sufficient is transported
Mobile robot.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of sufficient kinematic robot of deformable wheel, including control system and mechanical system, mechanical system include trunk, wheel
Formula movement mechanism and four leg exercise mechanisms with freedom degree of doing more physical exercises being mounted on trunk, wheel type motion mechanism include
It is mounted on the four wheels at mechanical system rear portion and drives the driving motor of at least one wheel, each leg exercise mechanism includes string
Several steering engines being connected together, the output shaft of each steering engine are mutually perpendicular to, and control system controls each steering engine rotation to adjust each leg
Movement mechanism pose is to realize the motor pattern switching between wheel type movement and sufficient formula movement.
As a further improvement of the above technical scheme, each leg exercise mechanism includes being sequentially connected in series to be fixed together
One steering engine, the first steering engine bracket, the second steering engine bracket, the second steering engine, third steering engine and third steering engine bracket, the first steering engine front and back
Swaying direction installation, the second steering engine swing direction installation, third steering engine swing direction installation.
As a further improvement of the above technical scheme, four wheels are separately mounted to the two legs portion movement at trunk rear portion
The upper and lower ends of mechanism.
As a further improvement of the above technical scheme, there are two driving motors, two driving motors of installation is additionally provided with and are existed
Two electric machine supports at left and right sides of trunk rear portion, two wheels are sequentially connected with two driving motors respectively, and in addition two wheels turn respectively
It is dynamic to be connected on the two third steering engine brackets at rear portion.
As a further improvement of the above technical scheme, the bottom end of each third steering engine bracket is provided with non-slip mat.
As a further improvement of the above technical scheme, trunk is the square plate being made by 3D printing, before trunk
Two middle side parts offer U-shaped notch afterwards, and each leg exercise mechanism is fixedly connected on four edges of trunk.
As a further improvement of the above technical scheme, control system includes master chip, power module, WIFI module, rudder
Machine control port, DC MOTOR CONTROL port, USART, power supply output module, sensor module, DC motor driver and journey
Sequence download module.
As a further improvement of the above technical scheme, control system is developed based on ARM, and sensor module includes camera
And attitude transducer.
Beneficial effects of the present invention: the sufficient kinematic robot of this deformable wheel passes through leg exercise mechanism and wheel type movement machine
The setting of structure is moved when level land moves using wheel type motion mechanism, when meeting with complicated landform, two leg exercises of trunk front
Mechanism stretches vertical with trunk, and then the two leg exercise mechanisms at trunk rear portion are put forward, until two leg exercises of front
Mechanism lands, and two leg exercise mechanisms of front are put forward at this time, until trunk reaches horizontal position, then four leg exercise machine
Structure is returned to home position, completes motor pattern switching, and the sufficient kinematic robot movement of the deformable wheel is flexible, environment adapts to energy
Power is strong.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Fig. 1 is the deformable four-footed motor pattern structural schematic diagram for taking turns sufficient kinematic robot；
Fig. 2 is the deformable wheel type movement mode configuration schematic diagram for taking turns sufficient kinematic robot.
Specific embodiment
Referring to Figures 1 and 2, the present invention is a kind of sufficient kinematic robot of deformable wheel, including control system and mechanical system
System, mechanical system include trunk 1, wheel type motion mechanism and four legs with freedom degree of doing more physical exercises being mounted on trunk 1
Movement mechanism, wheel type motion mechanism include the four wheels 7 for being mounted on mechanical system rear portion and the drive for driving at least one wheel 7
Dynamic motor 8, each leg exercise mechanism includes several steering engines being serially connected, and the output shaft of each steering engine is mutually perpendicular to, control system
System controls each steering engine rotation with the motor pattern for adjusting each leg exercise mechanism pose to realize between wheel type movement and sufficient formula movement
Switching.
By the setting of leg exercise mechanism and wheel type motion mechanism, moved when level land moves using wheel type motion mechanism,
When meeting with complicated landform, then the two of trunk 1 rear portion vertical with trunk 1 stretch in two leg exercise mechanisms of 1 front of trunk
Leg exercise mechanism is put forward, until two leg exercise mechanisms of front land, two leg exercise mechanisms of front are forward at this time
Pendulum, until trunk 1 reaches horizontal position, then four leg exercise mechanisms are returned to home position, complete motor pattern switching, should
The sufficient kinematic robot of deformable wheel moves flexible, strong environmental adaptability.
As preferred embodiment, each leg exercise mechanism includes being sequentially connected in series the first steering engine 2 being fixed together,
One steering engine bracket 31, the second steering engine bracket 32, the second steering engine 41, third steering engine 42 and third steering engine bracket 5, before the first steering engine 2
Afterwards swaying direction install, the second steering engine 41 swing direction installation, 42 swing direction of third steering engine installation.
As preferred embodiment, four wheels 7 are separately mounted to the upper of the two legs portion movement mechanism at 1 rear portion of trunk
Lower both ends.
As preferred embodiment, there are two driving motors 8, is additionally provided with two driving motors 8 of installation at 1 rear portion of trunk
Two electric machine supports 9 of the left and right sides, two wheels 7 are sequentially connected with two driving motors 8 respectively, in addition two wheels 7 company of rotation respectively
It connects on the two third steering engine brackets 5 at rear portion.
As preferred embodiment, the bottom end of each third steering engine bracket 5 is provided with non-slip mat 6, and each non-slip mat 6 is rubber
Non-slip mat.
As preferred embodiment, trunk 1 is the square plate being made by 3D printing, in the front and rear sides of trunk 1
Portion offers U-shaped notch, and each leg exercise mechanism is fixedly connected on four edges of trunk 1.
As preferred embodiment, control system include master chip, power module, WIFI module, steering engine control port,
DC MOTOR CONTROL port, USART, power supply output module, sensor module, DC motor driver and program download module.
As preferred embodiment, control system is fixed on trunk 1, and control system is developed based on ARM, sensing
Device module includes camera and attitude transducer, and attitude transducer is MPU6050 attitude transducer, and the function of control system is main
It is that processing is acquired to the data of sensor module passback, then radios to host computer, result is analyzed according to host computer
Coordinated control is carried out to each steering engine in leg exercise mechanism and driving motor 8.
As preferred embodiment, the first steering engine 2 is uniaxial steering engine, and the second steering engine 41 and third steering engine 42 are twin shaft
Steering engine, two electric machine supports 9 are fixed at left and right sides of the rear portion of trunk 1, and two driving motors 8 are fixed by two electric machine supports 9
The left and right sides at 1 rear portion of trunk is set, two driving motors 8 are DC brushless motor, two wheels 7 respectively with two driving motors
8 transmission connections become driving wheel, and in addition two wheels 7, which are rotatably connected on respectively on the two third steering engine brackets 5 at rear portion, becomes driven
Wheel.
As preferred embodiment, when the sufficient kinematic robot foot formula of the deformable wheel moves, each leg exercise mechanism
Movement is realized using the motion mode of parabolic shape in end, the robot based on MATLAB in the case where given end orbit
Tool box calculates each steering engine in the output angle at each moment against solution, controls the movement of each steering engine so that four by control system
Sufficient formula movement is realized in leg alternating movement.
Two wheels 7 being connected when wheel type movement with two driving motors 8 are driving wheel, and two wheels 7 in addition are follower,
By the rotational angle of the second steering engine 41 to adjust direction of motion when robot wheel type movement.
When needing to be transformed into wheel type movement mode by sufficient formula motor pattern, four leg exercise mechanisms first are stretched and ground
The perpendicular shape in face, then the two leg exercise mechanisms at rear portion are swung forward simultaneously, and two leg exercise mechanisms of front are swung backward,
Two driving wheels land at this time, and the two leg exercise mechanism bottoms of straight configuration and front restore extremely in the two leg exercise mechanisms at rear portion
Extreme position, i.e. completion conversion process.
When need by wheel type movement pattern switching to foot formula motor pattern when, two leg exercise mechanisms of front first are stretched
To with 1 upright position of trunk, the two leg exercise mechanisms at rear portion slowly forward swing, until two leg exercise mechanisms of front land,
Two leg exercise mechanisms of front slowly forward swing at this time, until trunk 1 reaches horizontal position, then four leg exercise machines
Structure is returned to initial position simultaneously, i.e. completion conversion process.
Certainly, the invention is not limited to above embodiment, those skilled in the art are without prejudice to the present invention
Equivalent deformation or replacement can be also made under the premise of spirit, these equivalent deformations or replacement are all contained in the claim of this application
In limited range.
Claims (7)
1. a kind of sufficient kinematic robot of deformable wheel, it is characterised in that: including control system and mechanical system, the mechanical system
System includes trunk (1), wheel type motion mechanism and four leg fortune with freedom degree of doing more physical exercises being mounted on the trunk (1)
Motivation structure, the wheel type motion mechanism include be mounted on mechanical system rear portion four wheels (7) and drive at least one wheel
(7) driving motor (8), four wheels (7) are separately mounted to the upper and lower of the two legs portion movement mechanism at trunk (1) rear portion
Both ends, each leg exercise mechanism include several steering engines being serially connected, and the output shaft of each steering engine is mutually perpendicular to, institute
It states control system and controls the rotation of each steering engine and realized between wheel type movement and sufficient formula movement with adjusting each leg exercise mechanism pose
Motor pattern switching.
2. the sufficient kinematic robot of deformable wheel according to claim 1, it is characterised in that: each leg exercise mechanism
Including being sequentially connected in series the first steering engine (2) being fixed together, the first steering engine bracket (31), the second steering engine bracket (32), the second rudder
Machine (41), third steering engine (42) and third steering engine bracket (5), the first steering engine (2) swing direction installation, described second
Steering engine (41) swings direction installation, third steering engine (42) swing direction installation.
3. the sufficient kinematic robot of deformable wheel according to claim 2, it is characterised in that: the driving motor (8) has
Two, two electric machine supports (9) of two driving motors (8) of installation at left and right sides of trunk (1) rear portion are additionally provided with, described in two
Wheel (7) is sequentially connected with two driving motors (8) respectively, and in addition two wheels (7) are rotatably connected on rear portion respectively
On two third steering engine brackets (5).
4. the sufficient kinematic robot of deformable wheel according to claim 3, it is characterised in that: each third steering engine bracket
(5) bottom end is provided with non-slip mat (6).
5. the sufficient kinematic robot of deformable wheel according to claim 1, it is characterised in that: the trunk (1) is by 3D
The front and rear sides middle part of square plate made of printing and making, the trunk (1) offers U-shaped notch, each leg exercise
Mechanism is fixedly connected on four edges of trunk (1).
6. deformable wheel foot kinematic robot described in any one according to claim 1~5, it is characterised in that: the control
System processed includes that master chip, power module, WIFI module, steering engine control port, DC MOTOR CONTROL port, USART, power supply are defeated
Module, sensor module, DC motor driver and program download module out.
7. the sufficient kinematic robot of deformable wheel according to claim 6, it is characterised in that: the control system is based on
ARM exploitation, the sensor module includes camera and attitude transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710047169.6A CN106828651B (en) | 2017-01-20 | 2017-01-20 | A kind of sufficient kinematic robot of deformable wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710047169.6A CN106828651B (en) | 2017-01-20 | 2017-01-20 | A kind of sufficient kinematic robot of deformable wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106828651A CN106828651A (en) | 2017-06-13 |
| CN106828651B true CN106828651B (en) | 2019-04-23 |
Family
ID=59120385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710047169.6A Active CN106828651B (en) | 2017-01-20 | 2017-01-20 | A kind of sufficient kinematic robot of deformable wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106828651B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364506B (en) * | 2017-07-12 | 2019-08-09 | 清华大学 | A kind of track combined quadruped robot of foot |
| CN107685786B (en) * | 2017-07-29 | 2023-12-01 | 华南理工大学 | Leg mechanism of four-legged robot |
| CN108238126A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of Lun Zu omnidirectional movings robot |
| CN108638019B (en) * | 2018-05-08 | 2020-09-01 | 浙江大学 | Deformable bionic wheel-leg robot and control method thereof |
| CN108622225A (en) * | 2018-06-22 | 2018-10-09 | 吉林大学 | A kind of anthropomorphic robot of wheel type movement |
| CN108502049B (en) * | 2018-06-26 | 2023-11-14 | 东北大学 | Robot based on wheeled foot type composite chassis |
| CN111301548A (en) * | 2020-03-27 | 2020-06-19 | 之江实验室 | Reconfigurable foot type robot with biped/four-wheel/four-foot motion modes |
| CN112046662B (en) * | 2020-08-13 | 2023-01-17 | 哈尔滨工业大学（深圳） | Walking-replacing following robot and walking-replacing following method thereof |
| CN113212589B (en) * | 2021-06-09 | 2022-12-02 | 大连海事大学 | Wheel-foot type robot leg structure |
| CN114750851B (en) * | 2021-07-12 | 2023-08-01 | 智能移动机器人(中山)研究院 | Variable-structure four-six-foot robot based on steering engine and advancing method thereof |
| CN114952884A (en) * | 2022-05-22 | 2022-08-30 | 北京工业大学 | Wheel-foot integrated robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103287523A (en) * | 2013-05-06 | 2013-09-11 | 中国科学技术大学 | Composite transformation mobile robot combining elastic foot and wheel type motion mechanism |
| CN105035196A (en) * | 2015-06-26 | 2015-11-11 | 赵姝颖 | Transformable wheeled robot of cubic structure |
| CN105151153A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Wheel-foot hybrid mode hexapod robot moving platform |
| CN105667622A (en) * | 2016-01-14 | 2016-06-15 | 哈尔滨工业大学 | Six-wheel-foot type moving robot with three robot bodies |
| CN105923067A (en) * | 2016-04-21 | 2016-09-07 | 电子科技大学 | Small wheel-foot combined type hexapod robot |
-
2017
- 2017-01-20 CN CN201710047169.6A patent/CN106828651B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103287523A (en) * | 2013-05-06 | 2013-09-11 | 中国科学技术大学 | Composite transformation mobile robot combining elastic foot and wheel type motion mechanism |
| CN105035196A (en) * | 2015-06-26 | 2015-11-11 | 赵姝颖 | Transformable wheeled robot of cubic structure |
| CN105151153A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Wheel-foot hybrid mode hexapod robot moving platform |
| CN105667622A (en) * | 2016-01-14 | 2016-06-15 | 哈尔滨工业大学 | Six-wheel-foot type moving robot with three robot bodies |
| CN105923067A (en) * | 2016-04-21 | 2016-09-07 | 电子科技大学 | Small wheel-foot combined type hexapod robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106828651A (en) | 2017-06-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106828651B (en) | A kind of sufficient kinematic robot of deformable wheel | |
| CN102180205B (en) | Robot with wheel legs | |
| CN208340114U (en) | A kind of fighter toy | |
| CN210101819U (en) | Four-footed robot based on five-bar linkage | |
| CN206243293U (en) | A kind of high speed four-leg bionic robot and its bionic leg | |
| CN102431604A (en) | Humanoid robot with function of interchanging double-foot walking with wheeled moving | |
| CN108556951B (en) | Adaptive electrically driven single-leg robot and control method thereof | |
| CN105108762B (en) | Remote control hand controller based on force/touch guiding | |
| CN105013182A (en) | Toy robot with transformable wheel feet | |
| CN110815245A (en) | Service robot for welcoming | |
| CN111332382A (en) | Horizontal joint quadruped robot | |
| CN103197680A (en) | Amphibious all-terrain mobile robot control system | |
| CN109606499B (en) | Miniature six-leg robot | |
| CN104986240A (en) | Linear driving walking robot leg structure and parallel four-footed walking robot | |
| CN109050697A (en) | A kind of full posture mobile parallel connection mechanism of multi-mode | |
| CN210063193U (en) | Robot running mechanism with mechanical unbalance prevention function | |
| CN109018062A (en) | A kind of automatic eight sufficient bio-robot | |
| CN103010327B (en) | Single-motor driven climbing jumping robot | |
| CN110091936B (en) | Four-foot robot based on five-bar mechanism and gait control method | |
| CN108247609A (en) | A kind of deformable omnidirectional moving robot | |
| CN103318394B (en) | The pharynx jaw pattern bionic pectoral fin of fin face active deformation | |
| CN105159312A (en) | A waist simulation device of a bionic robot mouse based on differential gears | |
| CN111824286A (en) | Variable-foot mobile robot | |
| CN103612685B (en) | Leg type rotatable quadruped robot with crawler wheels and driving wheels | |
| CN103111076B (en) | Entertainment robot leg mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |