CN107264665A - A kind of conversion movable robot with wheel legs of passive adaptation Service Environment - Google Patents
A kind of conversion movable robot with wheel legs of passive adaptation Service Environment Download PDFInfo
- Publication number
- CN107264665A CN107264665A CN201710425107.4A CN201710425107A CN107264665A CN 107264665 A CN107264665 A CN 107264665A CN 201710425107 A CN201710425107 A CN 201710425107A CN 107264665 A CN107264665 A CN 107264665A
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- spoke
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- machine box
- robot
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of conversion movable robot with wheel legs of passive adaptation Service Environment, including fuselage trunk, a passive conversion wheel leg device is respectively arranged with the rectangle machine box left and right sides, each passive conversion wheel leg device includes interior spoke, the outer spokes being arranged on the outside of described interior spoke and the traveling motor in motor fixed groove, one end of three spoke inner main axis is separately fixed on interior spoke, one end of the outer main shaft of three spokes is separately fixed in outer spokes, the centre of the output shaft of traveling motor and interior spoke is fixedly linked and is rotatedly connected with outer spokes, a transmission group is respectively arranged between the other end of main shaft and the other end of spoke inner main axis outside each spoke.Using present apparatus robot by passively converting wheel leg device, change itself wheel leg form, passive adaptation Service Environment has high-speed mobile performance and effective obstacle climbing ability concurrently.
Description
Technical field
The present invention relates to a kind of mobile robot, more particularly to one kind can passively convert wheel leg with reality according to Service Environment
The mobile robot of existing effect obstacle crossing function.
Background technology
In recent years, mobile robot was quickly grown, and was explored, under water in rescue and relief work, military surveillance attack, space flight and aviation
Extensive use in the unknown complex environment such as underground piping detection and people's livelihood service.However, existing mobile robot wheel leg structure is consolidated
It is fixed, single operational mode is provided mostly, it is impossible to adapt to changeable Service Environment.Existing mobile robot using wheeled and leg formula as
It is main, wherein, wheeled mobile robot is simple in construction, control is easy, but it works in gentle ground environment more, and obstacle climbing ability is poor；
Leg type mobile robot can better adapt to complicated landform, but its is complicated, it is difficult to control, it is impossible to large-scale promotion.
The content of the invention
It is an object of the invention to overcome the shortcoming of prior art there is provided one kind, by passively converting wheel leg device, to change
Itself wheel leg form, passive adaptation Service Environment has the passive adaptation military service ring of high-speed mobile performance and effective obstacle climbing ability concurrently
The conversion movable robot with wheel legs in border.
The present invention the used technical scheme that solves the above problems is：
A kind of conversion movable robot with wheel legs of passive adaptation Service Environment of the present invention, including fuselage trunk, it is described
Fuselage trunk include rectangle machine box, be fixed with triangle afterbody in the rear wall of described rectangle machine box, described triangle afterbody is closed
It is symmetrical and contacted in the presence of robot gravity with ground in the horizontal axis face of rectangle machine box, in described rectangle machine box
The left and right sides in the middle of have a motor fixed groove, cable through-hole is provided with described rectangle machine box, described
The rectangle machine box left and right sides be respectively arranged with a passive conversion wheel leg device, the passive conversion wheel leg device described in two is closed
It is symmetrical arranged in the horizontal axis face of rectangle machine box, each described passive conversion wheel leg device includes interior spoke, is arranged on institute
The outer spokes on the outside of interior spoke stated and the traveling motor in motor fixed groove, the power supply of described traveling motor
And control cable is drawn by cable through-hole, the output shaft of described interior spoke, outer spokes and traveling motor is coaxially set,
One end of the three spoke inner main axis set along same circumferencial direction uniform intervals is separately fixed on interior spoke, along same circumference
The one end for the outer main shaft of three spokes that direction uniform intervals are set is separately fixed in outer spokes, the output of described traveling motor
The centre of axle and interior spoke is fixedly linked and is rotatedly connected with described outer spokes, the other end of main shaft outside each spoke
A transmission group is respectively arranged between the other end of spoke inner main axis, the structure of three transmission groups is identical, described in each
Transmission group include the circular arc wheel rim that the other end of one end and the outer main shaft of spoke is rotatedly connected by first rotating shaft, described
The other ends of spoke inner main axis be provided with spacing breach, one end of connecting rod is connected to described and spoke by the second axis of rotation
In the spacing breach of inner main axis, one end of circular arc wheel rim side rotation post is fixed on 1/3rd circle apart from first rotating shaft
At arc wheel rim, and the other end of circular arc wheel rim side rotation post and the other end of connecting rod are rotated and connected, described first turn
The axis of axle, the second rotating shaft and circular arc wheel rim side rotation post be arranged in parallel with electrical axis, three transmissions of the same side
Three circular arc wheel rims in group form a circle in closure.
It is using the beneficial effect of apparatus of the present invention：Robot changes itself wheel leg shape by passively converting wheel leg device
State, passive adaptation Service Environment has high-speed mobile performance and effective obstacle climbing ability concurrently, easy to control, can complete unknown complex ring
The tasks such as investigation, rescue under border.
Brief description of the drawings
Fig. 1-1 is a kind of wheeled work shape of the conversion movable robot with wheel legs of passive adaptation Service Environment of the present invention
State schematic diagram；
Fig. 1-2 is a kind of wheel leg type work of the conversion movable robot with wheel legs of passive adaptation Service Environment of the present invention
View；
Fig. 2 is the fuselage torso sketch of the robot shown in Fig. 1-1；
Fig. 3-1 is that the robot shown in Fig. 1-1 passively converts wheel leg device schematic diagram；
Fig. 3-2 is that the robot shown in Fig. 3-1 passively converts the side view for taking turns leg device.
Embodiment
Below in conjunction with the accompanying drawings, the embodiment to the present invention is described in detail.
As shown in Fig. 1-1,1-2,2, a kind of conversion movable robot with wheel legs of passive adaptation Service Environment of the invention,
Including fuselage trunk 1, described fuselage trunk 1 includes rectangle machine box 3, and triangle is fixed with the rear wall of described rectangle machine box 3
Afterbody 4, described triangle afterbody 4 on axial plane A in the transverse direction of rectangle machine box 3 it is symmetrical and in the presence of robot gravity with
Ground is contacted.A motor fixed groove 5 is had in the middle of the left and right sides of described rectangle machine box 3, in described square
Cable through-hole 6 is provided with shape machine box 3.A passive conversion wheel leg device is respectively arranged with the described rectangle machine box left and right sides
2, the passive conversion wheel leg device 2 described in two is symmetrical arranged on axial plane A in the transverse direction of rectangle machine box 3.
As shown in Fig. 3-1,3-2, each described passive conversion wheel leg device 2 include interior spoke 8, be arranged on it is described interior
Outer spokes 9 on the outside of spoke and the traveling motor 7 in motor fixed groove 5, the power supply of described traveling motor 7 and
Control cable is drawn by cable through-hole 6, and the output shaft coaxial line of described interior spoke 8, outer spokes 9 and traveling motor 7 is set
Put, the one end of three spoke inner main axis 10 set along same circumferencial direction uniform intervals is separately fixed on interior spoke 8, along same
The one end for the outer main shaft 11 of three spokes that one circumferencial direction uniform intervals are set is separately fixed in outer spokes 9, described traveling
The centre of the output shaft of motor 7 and interior spoke 8 is fixedly linked and is rotatedly connected with described outer spokes 9, in each spoke
A transmission group is respectively arranged between the other end of outer main shaft 11 and the other end of spoke inner main axis 10, such as figure is respectively first
Transmission group 12, the second transmission group 13 and the 3rd transmission group 14, the structure of three transmission groups are identical, the transmission group bag described in each
The circular arc wheel rim 15 that the other end of main shaft 11 outside one end and a spoke is rotatedly connected by first rotating shaft 17 is included, in described wheel
The other end of spoke inner main axis 10 is provided with spacing breach 16, one end of connecting rod 18 by the second rotating shaft 19 be rotatably connected on it is described with
In the spacing breach 16 of spoke inner main axis 10, turned position, circular arc wheel rim side are limited by the spacing breach 16 of spoke inner main axis
One end of rotation post 20 is fixed at 1/3rd of first rotating shaft 17 circular arc wheel rim 15, and circular arc wheel rim side
The other end of rotation post 20 is rotated with the other end of connecting rod 18 and is connected.Described first rotating shaft 17, the second rotating shaft 19 and circular arc
The axis of wheel rim side rotation post 20 be arranged in parallel with electrical axis, three circular arc wheels in three transmission groups of the same side
Edge 15 forms a circle in closure.
As shown in drawings, Fig. 1-1 is the wheeled state of robot, and Fig. 1-2 is robot wheel leg type state.Rectangle machine in Fig. 2
Box 3 is used to positioning, supporting traveling motor, and triangle afterbody 4 contacts to earth for 3 points with two-wheel formation, it is ensured that the stability of robot.In Fig. 3
Passive conversion wheel leg device 2 is used to realize robot basic exercise.In the case of gentle ground, when robot advances, the quilt
Resistance suffered by circular arc wheel rim 15 is smaller in dynamic conversion wheel leg device 2, the driving force provided needed for traveling motor 7 be less than robot from
Body gravity, it is impossible to change the relative position of the spoke inner main axis 10 and connecting rod 18, the circular arc wheel rim 15 is closed, at robot
In wheeled work state.In this case, the conversion movable robot with wheel legs of passive adaptation Service Environment of the invention can be fast
Speed is mobile.When robot, which runs into obstacle, to advance, it is described it is passive conversion wheel leg device 2 in resistance suffered by circular arc wheel rim 15 by
It is cumulative big, cause traveling motor 7 to lift its driving force to tackle resistance suffered by circular arc wheel rim 15, be enough when the driving force is increased to
When overcoming robot self gravitation, the driving spoke of traveling motor 7 inner main axis 10, to increase spoke inner main axis 10 and connecting rod 18
Between angle, increase wheel leg radius.At the same time, under the drive of connecting rod 18, circular arc wheel rim 15 is rotated relative to the outer main shaft 11 of spoke,
Realize that wheel rim is expanded.The conversion movable robot with wheel legs of the passive adaptation Service Environment of the present invention is in wheel leg type work shape
State, because robot wheel leg radius and wheel rim are effectively increased, robot has more preferable obstacle performance.Robot motion's mistake
Cheng Zhong, ground environment is continually changing, and the driving force that the traveling motor 7 is provided changes therewith, and the circular arc wheel rim 15 expands chi
Degree is continually changing, and robot wheel leg state is continually changing, can passive adaptation working environment.Pass through the passive conversion wheel leg device
2, the traveling motor 7 increases and decreases driving force with environmental change, to complete the continuous change for taking turns leg diameter and form so that the present invention
The conversion movable robot with wheel legs passive adaptation environment of passive adaptation Service Environment in patent, is realized quick mobile and effective
Obstacle detouring.
A kind of conversion movable robot with wheel legs of passive adaptation Service Environment of the present invention can be adjusted according to ground environment
The size of motor output driving power, by passively converting wheel leg device, changes wheel leg state, adapts to working environment, possess quick
The ability of mobile and effective obstacle detouring.In addition, the conversion wheel leg type moving machine of a kind of passive adaptation Service Environment of the invention
Device people is easy to control, can meet performance requirement of the tasks such as investigation under unknown complex environment, rescue to mobile robot.
The above description of this invention is only schematical, rather than restricted, so, embodiments of the present invention
It is not limited to above-mentioned embodiment.If one of ordinary skill in the art is enlightened by it, the present invention is not being departed from
In the case of objective and claimed scope, make other changes or modification belongs to protection scope of the present invention.
Claims (1)
1. a kind of conversion movable robot with wheel legs of passive adaptation Service Environment, it is characterised in that：It is described including fuselage trunk
Fuselage trunk include rectangle machine box, be fixed with triangle afterbody in the rear wall of described rectangle machine box, described triangle afterbody is closed
It is symmetrical and contacted in the presence of robot gravity with ground in the horizontal axis face of rectangle machine box, in described rectangle machine box
The left and right sides in the middle of have a motor fixed groove, cable through-hole is provided with described rectangle machine box, described
The rectangle machine box left and right sides be respectively arranged with a passive conversion wheel leg device, the passive conversion wheel leg device described in two is closed
It is symmetrical arranged in the horizontal axis face of rectangle machine box, each described passive conversion wheel leg device includes interior spoke, is arranged on institute
The outer spokes on the outside of interior spoke stated and the traveling motor in motor fixed groove, the power supply of described traveling motor
And control cable is drawn by cable through-hole, the output shaft of described interior spoke, outer spokes and traveling motor is coaxially set,
One end of the three spoke inner main axis set along same circumferencial direction uniform intervals is separately fixed on interior spoke, along same circumference
The one end for the outer main shaft of three spokes that direction uniform intervals are set is separately fixed in outer spokes, the output of described traveling motor
The centre of axle and interior spoke is fixedly linked and is rotatedly connected with described outer spokes, the other end of main shaft outside each spoke
A transmission group is respectively arranged between the other end of spoke inner main axis, the structure of three transmission groups is identical, described in each
Transmission group include the circular arc wheel rim that the other end of one end and the outer main shaft of spoke is rotatedly connected by first rotating shaft, described
The other ends of spoke inner main axis be provided with spacing breach, one end of connecting rod is connected to described and spoke by the second axis of rotation
In the spacing breach of inner main axis, one end of circular arc wheel rim side rotation post is fixed on 1/3rd circle apart from first rotating shaft
At arc wheel rim, and the other end of circular arc wheel rim side rotation post and the other end of connecting rod are rotated and connected, described first turn
The axis of axle, the second rotating shaft and circular arc wheel rim side rotation post be arranged in parallel with electrical axis, three transmissions of the same side
Three circular arc wheel rims in group form a circle in closure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710425107.4A CN107264665A (en) | 2017-06-07 | 2017-06-07 | A kind of conversion movable robot with wheel legs of passive adaptation Service Environment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710425107.4A CN107264665A (en) | 2017-06-07 | 2017-06-07 | A kind of conversion movable robot with wheel legs of passive adaptation Service Environment |
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| CN107264665A true CN107264665A (en) | 2017-10-20 |
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| CN201710425107.4A Pending CN107264665A (en) | 2017-06-07 | 2017-06-07 | A kind of conversion movable robot with wheel legs of passive adaptation Service Environment |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107902002A (en) * | 2017-10-25 | 2018-04-13 | 天津大学 | One kind combination movable robot with wheel legs |
| CN107902008A (en) * | 2017-10-25 | 2018-04-13 | 天津大学 | A kind of fuselage reversible mobile robot |
| CN108674513A (en) * | 2018-04-25 | 2018-10-19 | 上海交通大学 | Allosteric state wheel leg Mobile working machine people |
| CN109334808A (en) * | 2018-09-27 | 2019-02-15 | 江汉大学 | A kind of wheel biped robot and its control method |
| CN109572840A (en) * | 2018-09-27 | 2019-04-05 | 江汉大学 | A kind of mobile robot and its control method |
| CN110588826A (en) * | 2019-10-22 | 2019-12-20 | 东北林业大学 | Turnover wheel-leg type robot |
| CN111497960A (en) * | 2020-05-12 | 2020-08-07 | 中国科学院沈阳自动化研究所 | Wheel step self-adaptive variable-configuration mobile robot |
| CN111846001A (en) * | 2020-07-30 | 2020-10-30 | 上海交通大学 | Wheel-leg variable-structure robot |
| CN112455565A (en) * | 2020-11-18 | 2021-03-09 | 燕山大学 | Wheel-leg-shape-reconfigurable reconnaissance robot with self-adaptive capacity |
| CN113771978A (en) * | 2021-10-13 | 2021-12-10 | 北京徕达泰科科技有限公司 | Quadruped robot for acquiring spatial three-dimensional data |
| CN113910829A (en) * | 2021-11-19 | 2022-01-11 | 上海交通大学 | Deformable wheel and movable equipment |
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| US20140158439A1 (en) * | 2012-12-07 | 2014-06-12 | Snu R&Db Foundation | Passive transformable wheel and robot having the wheel |
| CN203528628U (en) * | 2013-10-25 | 2014-04-09 | 天津大学 | Wheel-like wall-climbing robot |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107902008A (en) * | 2017-10-25 | 2018-04-13 | 天津大学 | A kind of fuselage reversible mobile robot |
| CN107902002B (en) * | 2017-10-25 | 2020-02-18 | 天津大学 | Combined wheel-leg type mobile robot |
| CN107902002A (en) * | 2017-10-25 | 2018-04-13 | 天津大学 | One kind combination movable robot with wheel legs |
| CN108674513A (en) * | 2018-04-25 | 2018-10-19 | 上海交通大学 | Allosteric state wheel leg Mobile working machine people |
| CN109334808A (en) * | 2018-09-27 | 2019-02-15 | 江汉大学 | A kind of wheel biped robot and its control method |
| CN109572840A (en) * | 2018-09-27 | 2019-04-05 | 江汉大学 | A kind of mobile robot and its control method |
| CN109334808B (en) * | 2018-09-27 | 2021-01-19 | 江汉大学 | Wheeled-foot robot and control method thereof |
| CN110588826B (en) * | 2019-10-22 | 2024-05-28 | 东北林业大学 | Wheel leg type robot capable of overturning |
| CN110588826A (en) * | 2019-10-22 | 2019-12-20 | 东北林业大学 | Turnover wheel-leg type robot |
| CN111497960A (en) * | 2020-05-12 | 2020-08-07 | 中国科学院沈阳自动化研究所 | Wheel step self-adaptive variable-configuration mobile robot |
| CN111846001A (en) * | 2020-07-30 | 2020-10-30 | 上海交通大学 | Wheel-leg variable-structure robot |
| CN111846001B (en) * | 2020-07-30 | 2022-03-01 | 上海交通大学 | Wheel-leg variable-structure robot |
| CN112455565A (en) * | 2020-11-18 | 2021-03-09 | 燕山大学 | Wheel-leg-shape-reconfigurable reconnaissance robot with self-adaptive capacity |
| CN113771978A (en) * | 2021-10-13 | 2021-12-10 | 北京徕达泰科科技有限公司 | Quadruped robot for acquiring spatial three-dimensional data |
| CN113771978B (en) * | 2021-10-13 | 2022-06-07 | 北京徕达泰科科技有限公司 | Quadruped robot for acquiring spatial three-dimensional data |
| CN113910829A (en) * | 2021-11-19 | 2022-01-11 | 上海交通大学 | Deformable wheel and movable equipment |
| CN113910829B (en) * | 2021-11-19 | 2024-05-07 | 上海交通大学 | Deformable wheel and movable equipment |
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Application publication date: 20171020 |