CN107140052B - A kind of wheel leg type hexapod robot with suspension - Google Patents

A kind of wheel leg type hexapod robot with suspension Download PDF

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Publication number
CN107140052B
CN107140052B CN201710271810.4A CN201710271810A CN107140052B CN 107140052 B CN107140052 B CN 107140052B CN 201710271810 A CN201710271810 A CN 201710271810A CN 107140052 B CN107140052 B CN 107140052B
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China
Prior art keywords
joint
connector
axis
suspension
wheel
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CN107140052A (en
Inventor
丁希仑
潘希祥
徐坤
郑羿
齐静
陈佳伟
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Beihang University
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Beihang University
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/028Vehicles 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G15/00Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
    • B60G15/02Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
    • B60G15/06Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper
    • B60G15/067Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper characterised by the mounting on the vehicle body or chassis of the spring and damper unit
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G7/00Pivoted suspension arms; Accessories thereof
    • B60G7/006Attaching arms to sprung or unsprung part of vehicle, characterised by comprising attachment means controlled by an external actuator, e.g. a fluid or electrical motor

Abstract

The present invention discloses a kind of wheel leg type hexapod robot with suspension, including body and six single leg structures;Six single leg mechanisms are uniformly distributed in body circumferential direction.Single leg structure has with joint, hip joint and knee joint;Wherein, it with being connected between joint and body, is rotated by motor driven around vertical Z axis;For hip joint with being connected between joint by suspension, which, which is only used only a shock absorber, can realize the damping, buffering effect of both direction.Hip joint and knee joint pass through electric-machine directly-driven, rotate around horizontal Y-axis, are connected between the two by thigh structure;Knee joint is connected with shank structure end, and shank structure end is also equipped with wheeled locomotion mechanism;Shank front end is equipped with sufficient end buffer gear.The present invention has the wheel leg type hexapod robot of suspension, it is ensured that the integrality of internal body environment during the motion, while the stability that the bearing capacity of robot can be improved and load during the motion.

Description

A kind of wheel leg type hexapod robot with suspension
Technical field
The present invention relates to robot field, specifically a kind of wheel leg type hexapod robot with suspension.
Background technique
Currently, conventional mobile robot includes wheeled robot and caterpillar type robot, and compared with them, leg formula machine People has stronger landform adaptability and better mobility.As the Typical Representative of legged mobile robot, six sufficient machines People has the extremity body structures of gait abundant and redundancy, and movement flexibly, can move, leaping over obstacles etc. on discrete ground. In addition, compared with wheeled, caterpillar mobile robot, traditional legged mobile robot then has shifting under flat ground environment Therefore the research of the wheeled move mode combined with leg formula is had highly important meaning by the shortcomings that moving slow speed, low efficiency Justice.Suspension is initially applied in the total of all attachment devices in automobile manufacture between automobile frame and wheel or vehicle bridge Claim, independent suspension system and dependent suspension can be divided into, two wheels connect each other in dependent suspension, the two Bounce influences each other.And each wheel has respective suspension mechanism in independent suspension system, is mutually independent.It is by suspension System, can be effectively reduced the vibration of mobile platform, alleviate the impact between platform key part, improve platform stability and Reliability.The patent of invention of Publication No. CN 106427446A proposes a kind of suspension of robot car body, although it is tied Structure is simple, but it only realizes the damping to robot body in vertical direction.
For hexapod robot, by loading various equipment with it, they can be executed in complicated landform Various tasks, it is this requires hexapod robot bearing capacity with higher and steady with stronger movement in the loaded state It is qualitative.In robot moving process, either leg formula move mode or wheel type mobile mode, robot also need to guarantee this The integrality of in-vivo device and the influence jolted to body equipment for reducing all directions of robot in moving process.Existing In the large-scale hexapod robot having, it is primarily upon the bearing capacity of robot, robot body is loaded in moving process The research of influence to movement is less, at the same to body interior equipment by movement jolt influenced it is less.Therefore, leg formula machine The research of the suspension of people has a very important significance.
Summary of the invention
In view of the above-mentioned problems, the present invention proposes a kind of wheel-leg combined type hexapod robot with independent suspension system, hang A shock absorber, which is only used only, in extension system can realize the damping, buffering effect of both direction, guarantee that robot interior environment exists Integrality in motion process, while the stability that the bearing capacity of robot can be improved and load during the motion;
The present invention has the wheel leg type hexapod robot of suspension, including body and six single leg structures;Six single legs Mechanism is uniformly distributed in body circumferential direction.
The list leg structure has with joint, hip joint and knee joint.Wherein, with being connected between joint and body, pass through electricity Machine driving is rotated around vertical Z axis.Hip joint with being connected between joint by suspension;Hip joint and knee joint pass through motor It is straight to drive, it rotates around horizontal Y-axis, is connected between the two by thigh structure.Knee joint is connected with shank structure end, shank structure end End is also equipped with wheeled locomotion mechanism;Shank front end is equipped with sufficient end buffer gear.
Above-mentioned suspension includes connector under transverse arm, shock absorber, shock absorber, connect with articulated joint with articulated joint Part.Wherein, at the top of shock absorber and with forming the revolute pair rotated around Y-axis between joint piece;It is connected under shock absorber bottom and shock absorber The revolute pair rotated around Y-axis is formed between at the top of part.Transverse arm end and with forming the revolute pair that rotates around Y-axis between joint;Shock absorber The prismatic pair along Z axis is formed between lower connector bottom and front arm.It is installed on hip joint with joint connector;It is connect with joint Circumferentially opposed positioning between head connector and connector;Front arm and with joint connector and with shape between articulated joint connector At the revolute pair rotated around horizontal X axis.It is above-mentioned that there is connector bottom protrusion under contact surface, with shock absorber with articulated joint top Contact.
Thus the damping, buffering effect of both direction can be realized by making suspension that a shock absorber only be used only: work as list When leg structural vertical direction stress, shock absorber, which is pressurized, to generate tension to outside, this is to withstand connector under shock absorber, make Its fishplate bar for being close to transverse arm, the stress of single leg mechanism is transferred to shock absorber through connector under transverse arm and shock absorber at this time, by shock-absorbing Device shock absorbing.When single leg structure is by lateral impact, the trend around Y-axis rotation is had, is will drive at this time with closing It saves connector and is rotated together with articulated joint connector, and then by pushing up shock-absorbing with the contact surface at the top of joint connector Connector is moved up with respect to transverse arm under device, thus compresses shock absorber, by shock absorber shock absorbing.
The operating status for the robot that the present invention designs includes walking moving condition and wheel type mobile state, and wherein walking moves Dynamic state is realized by controlling the operating with joint motor, hip joint motor and knee joint motor, and control three is passed through The steering of motor and revolving speed realize the advance, retrogressing and steering of robot ambulatory status.Wheel type mobile state is to pass through control Wheel motor and the advance, retrogressing and steering that robot wheel type mobile state is realized with the steering of joint motor and revolving speed.Separately Outside, it by increasing camera, corresponding sensor and motion arm etc. on machine human organism, can be used as all types of with high machine The mobile mechanism of the platforms such as the mobile robot of kinetic force, the specialized robot that can be completed various tasks.
The present invention has the advantages that
1, the present invention has in the wheel leg type hexapod robot of independent suspension system, and a shock-absorbing is only used only in suspension Device can realize the damping, buffering effect of both direction.When walking under rugged environment, suspension not only can be with Effectively slow down elliptical gear in the vertical direction between pedipulator and body, and can be touched in pedipulator swing process When breakking away suddenly to barrier or pedipulator, slow down pedipulator and body by turning on the outside axis direction of body center Square, so as to buffer mechanism leg torque to the impact with joint motor.Simultaneously under wheel type mobile mode, it can slow down Because of the elliptical gear between Uneven road rubber wheel, pedipulator and body in motion process.Either walking is mobile or wheeled Move mode, which can guarantee the integrality of internal body environment during the motion, while machine can be improved The bearing capacity of device people and the stability loaded during the motion;
2, the present invention has in the wheel leg type hexapod robot of independent suspension system, with the drive in joint and wheeled locomotion mechanism Dynamic to be all made of motor linear drives mode, this can not only reduce motor to the occupancy in robot interior space, mitigate robot Weight, and the operational efficiency of motor can be improved;
3, the present invention has in the wheel leg type hexapod robot of independent suspension system, hip joint and kneed joint motor Equal reasonable Arrangement retains biggish space at thigh inside shank, so as to install various equipment at shank, such as grasps Make arm etc., to improve the function set degree of robot itself.
Detailed description of the invention
Fig. 1 is the wheel leg type hexapod robot overall structure diagram that the present invention has suspension;
Fig. 2 is that the present invention has single leg structural schematic diagram in the wheel leg type hexapod robot of suspension;
Fig. 3 is that the present invention has hip joint structural schematic diagram in the wheel leg type hexapod robot of suspension;
Fig. 4 is that the present invention has suspension structure schematic diagram in the wheel leg type hexapod robot of suspension;
Fig. 5 is cross arm structure schematic diagram in suspension;
Fig. 6 is that the present invention has suspension mounting means schematic diagram in the wheel leg type hexapod robot of suspension;
Fig. 7 is the wheel leg type hexapod robot mesopodium end buffer gear structural schematic diagram that the present invention has suspension;
Fig. 8 is the wheel leg type hexapod robot wheel row mode posture schematic diagram that the present invention has suspension.
In figure:
The mono- leg structure 201- of 1- body 2- is with joint
202- hip joint 203- knee joint 204- suspension
205- thigh structure 206- shank structure 207- foot end buffer gear
208- wheeled locomotion mechanism 201a- is with joint connector 201b- with joint pedestal
201c- is with the joint joint motor 202a- pedestal 202b- joint connector
202c- joint motor 202d- motor mounting plate 202e- shaft
202f- joint gear A 202g- joint gear B
Connector under 204a- transverse arm 204b- shock absorber 204c- shock absorber
204d- is with articulated joint 204e- with articulated joint connector 204a1- side arm
204a2- fishplate bar 204a3- lug 204c1- convex portion
204d1- connector 204d2- "-" type slot 204e1- contact surface
204e2- connecting shaft 207a- foot end group seat 207b- buffer spring
207c- foot side pole
Specific embodiment
The invention will now be described in further detail with reference to the accompanying drawings.
The present invention has the wheel leg type hexapod robot of suspension, as shown in Figure 1, including body 1 and six single leg knots Structure 2.Wherein, body 1 is the double-deck regular hexahedron frame structure being made of upper layer and lower layer's hexagonal plate, at each angle of body 1 As single leg structure installation position, for installing single leg structure 2, then six single leg structures 2 are uniformly installed in 1 circumferential direction of body, into And by the coordinated movement of various economic factors of six single leg structures 2, all direction walking walking of wheel leg type hexapod robot of the present invention may be implemented, And wheel type mobile.
There are three traditional joints for above-mentioned 2 tool of list leg structure, respectively with joint 201, hip joint 202 and knee joint 203, such as Shown in Fig. 2.It wherein, include with joint connector 201a, with joint pedestal 201b and with joint motor 201c with joint 201.With Joint pedestal 201b is the c-type frame structure being made of back side panel, top plate and bottom plate, parallel between top plate and bottom plate and body 1 to set It sets.It is installed on joint motor 201c in the pedestal 201b of joint, the body end with joint motor 201c is fixed on joint base On the bottom plate of seat 201b, output shaft and with fixed between the pedestal 201b top plate of joint, and pass through top plate.It is used to joint connector real Now with the connection between joint pedestal 201b and body 1;Being with joint connector 201a includes upper connector and lower connector;Wherein Upper connector one end and the upper interlayer of body 1 are fixed, and the other end is connected on the output shaft with joint motor 201c by bearing; Lower connector one end and the lower interlayer of body 1 are fixed, and the other end is connected on the bottom plate with joint pedestal 201b by bearing.By This, is rotated being driven in a manner of directly driving with joint motor 201c with joint pedestal 201b around vertical Z axis, to realize Single leg structure 2 is rotated around vertical Z axis, while body 1 can be improved with this mode directly driven of joint motor 201c Inner space utilization rate.
The hip joint 202 is identical as 203 structure of knee joint, including joint pedestal 202a, joint connector 202b, joint Motor 202c and joint gear component, as shown in Figure 3.Wherein pedestal 202a in joint has left and right installation board, sets in parallel between the two It sets, and is connected between front end by motor mounting plate 202d- and is positioned.Shaft 202e, shaft are installed between left and right installation board rear end 202e axis is arranged along space Y axis direction, fixed between both ends and left and right installation board, and both ends are pierced by left and right installation board.Joint electricity Machine 202c is fixed on motor mounting plate 202d-, and axis is arranged along space x-axis, and output shaft passes through motor mounting plate 202d- and is located at In the pedestal 202a of joint.Joint gear component includes joint gear A202f and joint gear B202g, and the two is spiral bevel gear; Joint gear A202f is coaxially fixedly installed on shaft 202e, and joint gear B202g is coaxially fixedly installed in joint motor 202c On, and joint gear A202f and joint gear B202g is intermeshed.Joint connector 202b is by the left connector of L-type and right company The U-shaped structure that fitting collectively forms;Left connector is connected with the both ends shaft 202e by bearing respectively with the side of right connector, Rear end is used to connect with joint 201.
It is above-mentioned to be connected with passing through suspension 204 between joint 201 and hip joint 202, as shown in Fig. 2, suspension 204 For independent suspension system, i.e., the suspension 204 in every single leg structure 2 is mutually indepedent.As shown in figure 4, suspension 204 is wrapped Include connector 204c under transverse arm 204a, shock absorber 204b, shock absorber, with articulated joint 204d and with articulated joint connector 204e.As shown in figure 5, there is transverse arm 204a the two side arms 204a1 that is parallel to each other, two side arms 204a1 to be obliquely installed, and with closing Angle is 0 ° to 25 ° between saving the bottom plate of pedestal 201b.The bottom end two side arms 204a1 is located at the front with joint pedestal 201b, two sides Arm 204a1 connects to forming one by fishplate bar 204a2 between bottom end, and top is articulated with by hinged seat with after the pedestal 201b of joint On side plate, the revolute pair around Y-axis is formed.Above-mentioned fishplate bar 204a2 floor design there are two lug 204a3, be respectively intended to connection with Articulated joint 204d with articulated joint connector 204e.Shock absorber 204b is located at in the pedestal 201b of joint, and is located at transverse arm Between the two side arms of 204a.The top shock absorber 204b hingedly constitutes the revolute pair around Y-axis with the upper surface with joint pedestal 201b; Connector 204c hingedly constitutes the revolute pair around Y-axis under the bottom end shock absorber 204b and shock absorber, as shown in fig. 6, connecting under shock absorber The design of the bottom fitting 204c has convex portion 204c1, and convex portion 204c1 is passed through in transverse arm 204a and opened up on fishplate bar 204a2 Through-hole constitute along Z axis prismatic pair.It is that hip joint connects in plane connecting side, with hip joint 202 with the side articulated joint 204d The left connector of fitting 202d is fixed with right connector bottom end;Other side design with articulated joint 204d has column connector 204d1, the end of connector 204d1 are provided with the "-" type slot 204d2 designed along the y axis, as shown in figure 3, be used to position with Articulated joint connector 204e.There is contact surface 204e1 with articulated joint connector 204e top design, side design has and contacts A face 204e1 parallel word protrusion, other side design have connecting shaft 204e2.It is prominent by a word with articulated joint connector 204e It rises and cooperates grafting with the "-" type slot 204d2 of the end connector 204d1, realization connects with articulated joint connector 204e with joint Axially position between head 204d, and further will be with articulated joint connector 204e and with solid between articulated joint 204d by screw Even.Two connection lug 204a3 of the bottom above-mentioned transverse arm 204a design, are respectively sleeved in connector 204d1 and connecting shaft 204e2 On, and when making single 2 non-stress of leg structure, with the bottom connector 204c under articulated joint connector 204e top contact and shock absorber Portion convex portion 204c1 fitting.Hereby it is achieved that the shock-absorbing of single 2 both direction of leg structure, specifically: when the vertical side of single leg structure 2 When to stress, shock absorber 204b, which is pressurized, to generate tension to outside, this is to withstand connector 204c under shock absorber, keep it tight The fishplate bar 204a2 of transverse arm 204a is pasted, the stress of single leg mechanism 2 is transferred to through connector 204c under transverse arm 204a and shock absorber at this time Shock absorber 204b, by shock absorber 204b shock absorbing.When single leg structure 2 is by lateral impact, has one and rotated around Y-axis Trend, will drive at this time with articulated joint 204d and rotated together with articulated joint connector 204e, and then by with joint Contact surface at the top of connector 204e pushes up connector 204c under shock absorber and moves up with respect to transverse arm 204a, thus compresses Shock absorber 204b, by shock absorber 204b shock absorbing.
The hip joint 202 is connected between knee joint 203 by thigh structure 205;As shown in Fig. 2, thigh structure 205 has There is left and right sides thigh plate 205a, be arranged in parallel, rear end connects with the left and right installation board in hip joint 202 fixation respectively;Pass through The joint motor 202c of hip joint 202 drives and the transmission of joint gear component rotates hip joint 202, realizes thigh structure 205 pitching movement.205 front end of thigh structure connects with the left and right installation board rear end in knee joint 203 fixation respectively.At this point, Hip joint 202 is parallel with the joint motor 202c axis in knee joint 203, is respectively positioned on inside thigh structure 205.
It is connected with shank structure 206 at above-mentioned knee joint 203, as shown in Fig. 2, shank structure 206 includes the left and right sides Calf plate 206a, rear end are connected with both ends of the shaft in knee joint 203 by bearing respectively;Pass through the joint motor of knee joint 203 202c driving and the transmission of joint gear component rotate knee joint 203, realize the pitching movement of shank structure 206.Shank 206 forward end of structure is equipped with sufficient end buffer gear 207;206 rear end of shank structure is equipped with wheeled locomotion mechanism simultaneously 208.Sufficient end buffer gear 207 includes sufficient end group seat 207a, buffer spring 207b and sufficient side pole 207c.Wherein, sufficient end group seat 207a and the front end calf plate 206a of the left and right sides in shank structure 206 are fixed.Buffer spring is installed in sufficient end group seat 207a Mono- end cap of 207b, buffer spring 207b positions on the boss of sufficient end group seat 207a top design, and another end cap is by sufficient end group The end for the sufficient side pole 207c that the bottom seat 207a passes through, the locating shoulder 207d circumferentially designed by the end sufficient side pole 207c are fixed Position;Foot side pole 207c realizes the limit relatively moved between sufficient end group seat 207a by locating shoulder 207d simultaneously.Sufficient side pole The front end 207c with ground for contacting.In robot gait processes, sufficient side pole 207c is faced its active force by ground, by slow The compression movement for rushing spring 207b can slow down the elliptical gear, to realize the buffering effect at the sufficient end of single leg structure 2.
The wheeled locomotion mechanism 208 includes rubber wheel 208a, wheeled connector 208b and wheel motor 208c, such as Fig. 2 It is shown.Wherein, wheeled connector 208b has on the outside of the left and right sides calf plate 206a in left side plate, with shank structure 206 It is connected.Wheel motor 208c is installed between the left side plate of wheeled connector 208b, and axis is arranged along Y-axis.Rubber wheel 208a is worn It crosses wheel motor 208c and is connected thereto, is driven in a manner of linear drives wheel motor 208c and drives rubber wheel 208a Rotation.
In wheel leg type hexapod robot of the present invention, list is controlled by controlling the rotation of three joint upper joint motor 202c The swing and pitching movement of leg structure 2, and then the complete of robot can be realized by certain gait again by controlling six legs Orientation walking.Meanwhile the configuration by changing single leg structure 2 can make wheeled locomotion mechanism 208 land, and be converted into wheel type mobile Mode, as shown in Figure 8;The further rotation by control wheel motor 208c and rotation with joint motor 201c, can be with Realize the move modes such as advance, retrogressing and the steering under robot wheel type mobile mode.It simultaneously can be in machine by suspension 204 The elliptical gear generated between single leg mechanism 2 and body 1 by ground is buffered during device people's walking.
When robot stands still on flat ground, shock absorber 204b can to on the pedestal 201a of joint part and Transverse arm 204a generates downward thrust, and transverse arm 204a taps touching with the joint lower part pedestal 201a under the action of thrust, is formed Mechanical position limitation.When robot stands still, under the action of shock absorber 204b and mechanical position limitation, body 1 and list may be implemented The effect that rigid support is formed between leg structure 2, ensure that the stabilization of robot midstance.
In robot gait processes or when robot stands under rugged ground, due to 1 mass center of body Position is variation, and the stress of every single leg structure 2 be it is non-uniform, ground can generate certain single leg structures 2 at this time The active force of biggish moment, because shock absorber 204b is as the support component supported between single leg structure 2 and body 1, this portion It is allocated as that firmly shock absorber 204b can be acted on by single leg structure 2 first, at this moment the spring of shock absorber 204b can be because of outer masterpiece With lower contraction, the effect of bumper and absorbing shock is played to elliptical gear, to reduce external movement impact to robot interior environment shadow It rings.Simultaneously under rugged ground environment, under acting on by the independent suspension system 204 of every single leg structure 2, machine can be slowed down The catastrophe of the position of mass center during the motion of body 1, it is ensured that the stability of body 1 and thereon load bearing equipment.
When robot is in the gait processes on rugged ground, single leg structure 2 of two sides in robot direction of advance When colliding barrier when doing pendulum motion, single leg structure 2 will receive direction opposite with direction of advance on a horizontal plane Elliptical gear, the active force of the impact can generate one perpendicular to direction of advance and from the direction of the outside axis of body 1 to body 1 Torque.The torque can act on first in suspension 204 by single leg structure 2, and at this moment suspension 204 connects with joint Head 204d and with articulated joint connector 204e can opposite transverse arm 204a rotation, wherein with the rotation of articulated joint connector 204e It will drive connector 204c under shock absorber, so that generating shock absorber 204b shrinks damping, to delay with respect to transverse arm 204a upward sliding The torque is rushed to the elliptical gear of body 1.Meanwhile during robot normal gait or torque generate elliptical gear terminate When, shock absorber 204b can generate downward thrust to connector 204c under shock absorber, to guarantee with articulated joint connector The upper surface of 204e is bonded with the lower surface of connector 204c under shock absorber, at this time with articulated joint connector 204e and shock-absorbing Connector 204c is equivalent to rigid connection under device, guarantees that single leg structure 2 does pitching movement in vertical direction always.
In rugged environment during wheel type mobile, wheeled locomotion mechanism 208 be will receive because of ground for robot The elliptical gear that injustice generates, this partial action power can pass through the shock absorber 204b effect in the suspension 204 of single leg structure 2 Under slow down impact, play the role of bumper and absorbing shock to body 1, guarantee that robot can still be put down in rugged ground Steady advance, while guaranteeing the stability of robot interior environment.

Claims (7)

1. a kind of wheel leg type hexapod robot with suspension, including body and six single leg structures;Six single leg mechanisms It is uniformly distributed in body circumferential direction;It is characterized by:
Single leg structure has with joint, hip joint and knee joint;Wherein, with being connected between joint and body, by motor driven around Vertical Z axis rotation;Hip joint with being connected between joint by suspension;Hip joint and knee joint pass through electric-machine directly-driven, around Horizontal Y-axis rotation, is connected by thigh structure between the two;Knee joint is connected with shank structure end, and shank structure end is also pacified Equipped with wheeled locomotion mechanism;Shank front end is equipped with sufficient end buffer gear;
Above-mentioned suspension includes connector under transverse arm, shock absorber, shock absorber, with articulated joint and with articulated joint connector; Wherein, at the top of shock absorber and with forming the revolute pair rotated around Y-axis between joint piece;Connector top under shock absorber bottom and shock absorber The revolute pair rotated around Y-axis is formed between portion;Transverse arm end and with forming the revolute pair that rotates around Y-axis between joint;Connect under shock absorber The design of fitting bottom has convex portion, and the through-hole which opens up on fishplate bar in transverse arm constitutes the prismatic pair along Z axis; Grafting is cooperated with the "-" type slot for connecting cephalic par by a word protrusion with articulated joint connector, realizes and is connected with articulated joint Part and with the axially position between articulated joint;Transverse arm has the two side arms being parallel to each other, and two side arms are obliquely installed, two side arms bottom end Between connect to forming one by fishplate bar, top is articulated with by hinged seat on the pedestal of joint, and the revolute pair around Y-axis is formed;On Stating fishplate bar floor design, there are two lugs, are respectively intended to connection with articulated joint and with articulated joint connector;It is above-mentioned with joint The top contact of connector for joint is contacted with connector bottom protrusion under shock absorber.
2. a kind of wheel leg type hexapod robot with suspension as described in claim 1, it is characterised in that: the hip joint It is identical as knee joint structure, including joint pedestal, joint connector, joint motor and joint gear component;Wherein joint pedestal It with left and right installation board, is arranged in parallel between the two, and is connected between front end by motor mounting plate and is positioned;Left and right installation board rear end Between shaft is installed, shaft axis is arranged along the y axis, fixed between both ends and left and right installation board, and both ends are pierced by left and right installation Plate;Joint motor is fixed on motor mounting plate, and axis is arranged along X-axis, and output shaft passes through motor mounting plate and is located at joint pedestal It is interior;Joint gear component includes joint gear A and joint gear B;Joint gear A is coaxially fixedly installed in shaft, joint tooth Wheel B is coaxially fixedly installed on joint motor, and joint gear A and joint gear B is intermeshed;Joint connector is by L-type The U-shaped structure that left connector and right connector collectively form;The side of left connector and right connector is logical with both ends of the shaft respectively It crosses bearing to be connected, rear end is used to connect with joint.
3. a kind of wheel leg type hexapod robot with suspension as described in claim 1, it is characterised in that: transverse arm has phase Mutually parallel two side arms, two side arms and be 0 ° to 25 ° with angle between the bottom plate of joint pedestal;Pass through fishplate bar phase between two side arms front end It connects to form one.
4. a kind of wheel leg type hexapod robot with suspension as described in claim 1, it is characterised in that: connect under shock absorber The design of fitting bottom has convex portion, and convex portion constitutes the prismatic pair along Z axis across the through-hole that front arm opens up.
5. a kind of wheel leg type hexapod robot with suspension as described in claim 1, it is characterised in that: with articulated joint Side is plane connecting side, connects hip joint by hip joint connector;Other side design with articulated joint has connector;With The design of articulated joint connector side has connecting shaft;By connector and connecting shaft with the lug sleeve with holes designed between transverse arm end It connects, forms the revolute pair rotated around horizontal X axis.
6. a kind of wheel leg type hexapod robot with suspension as described in claim 1, it is characterised in that: with articulated joint On be provided with "-" type slot, it is circumferential fixed between the two with being realized with the "-" type male cooperation grafting that is designed on articulated joint connector Position.
7. a kind of wheel leg type hexapod robot with suspension as described in claim 1, it is characterised in that: wheel type mobile machine Structure includes rubber wheel, wheeled connector and wheel motor;Wherein, wheeled connector is installed on the outside of shank structure, wheel motor It is installed on wheeled connector, axis is arranged along Y-axis;Rubber wheel passes through wheel motor and connect with wheel motor, by wheeled Motor drives rubber wheel to rotate in a manner of linear drives.
CN201710271810.4A 2017-04-24 2017-04-24 A kind of wheel leg type hexapod robot with suspension Active CN107140052B (en)

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CN107140052B true CN107140052B (en) 2019-04-26

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