CN107323563A - Many wheel full landform robot cars of leg - Google Patents
Many wheel full landform robot cars of leg Download PDFInfo
- Publication number
- CN107323563A CN107323563A CN201710563228.5A CN201710563228A CN107323563A CN 107323563 A CN107323563 A CN 107323563A CN 201710563228 A CN201710563228 A CN 201710563228A CN 107323563 A CN107323563 A CN 107323563A
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- Prior art keywords
- wheel
- leg
- motor
- output shaft
- timing belt
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
The present invention discloses many wheel full landform robot cars of leg, include chassis, steering wheel, hollow shaft motor, lithium battery, timing belt, synchronous pulley, upper leg, lower leg, wheel, wheel motor, gyroscope, bearing, six hollow shaft motors are installed on chassis underside, the rear end of each hollow shaft motor is mounted on a steering wheel, steering wheel output shaft passes through the center of hollow shaft motor, each hollow shaft motor output shaft is mounted on synchronous pulley, each steering wheel output shaft is connected with a upper leg, each upper leg lower end is and a lower leg rotates connection, each lower leg upper end is mounted on a synchronous pulley, timing belt is mounted between two synchronous pulleys of each supporting leg, each lower leg is mounted on a wheel motor, each wheel motor output shaft is mounted on a wheel, wheel motor has the function that cuts off self-lock, gyroscope and lithium battery are installed on chassis underside.
Description
Technical field
The robot car that can adapt to full landform movement is combined the present invention relates to a kind of many wheel legs, more particularly to
A kind of many wheel full landform robot cars of leg.
Background technology
With continuing to develop and perfect for all-terrain vehicle technology, all-terrain vehicle is chased after at resource exploration, jungle search and rescue, sandy beach
Catch, engineering exploration, military surveillance, disaster search and rescue etc. field will be used widely.The walking mechanism of all-terrain vehicle mainly has
Several mechanisms such as wheeled, crawler type, legs and feet formula.Ratcheting mechanism is most widely used, and common transportation and communication is all in life
This mechanism used, is adapted to walk in flat road surface, but it is at the end of one's rope to be due to that all-terrain vehicle is frequently encountered in operation
Situation, so simple ratcheting mechanism is not appropriate for all-terrain vehicle；Crawler type mechanism have it is stronger by property, but for complete
The more rugged environment such as sandy beach, rock, jungle that landform car is frequently encountered, especially runs into relatively deep wide trench and higher steep
Step when also just it is helpless；Legs and feet formula mechanism has larger limitation to working environment, in this need of all-terrain vehicle
Seldom applied in the vehicle for wanting frequent conversion work environment.
Current walking mechanism oneself through substantially can not all-terrain adaptable car the complex landforms such as such as resource exploration carry out operation
Requirement.In order to improve operating efficiency of the all-terrain vehicle in complex environment, selection one kind can more be adapted to carry out in complex landform
The walking mechanism of work, it appears particularly significant.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide the full landform robot car of leg, the machine are taken turns one kind more
Device people car has very high adaptability and the good ability for crossing raised, gully and step in complicated adverse circumstances.
The technical solution adopted in the present invention is：Many wheel full landform robot cars of leg, include chassis, steering wheel, hollow shaft electricity
Machine, lithium battery, timing belt, timing belt driven pulley, upper leg, lower leg, wheel, wheel motor, gyroscope, timing belt driving wheel, axle
Hold, it is characterised in that：Six hollow shaft motors are respectively arranged in chassis underside edge by screw, each hollow shaft motor
Rear end is mounted on a steering wheel with long output shaft, and steering wheel output shaft passes through the center of hollow shaft motor, and each steering wheel is defeated
Two bearings, the axle of each hollow shaft motor output shaft are mounted between shaft and corresponding hollow shaft motor output shaft inwall
End is installed with a timing belt driving wheel, and the shaft end of each steering wheel output shaft is consolidated with a circular hole for going up leg upper end
Even, the circular hole of each upper leg lower end rotates connection with the axle of a lower leg upper end, and the shaft end of each lower leg upper shaft is fixed
One timing belt driven pulley is installed, a ring is mounted between each timing belt driving wheel and corresponding timing belt driven pulley
Shape timing belt, each lower leg lower end is mounted on a wheel motor, and the shaft end of each wheel motor output shaft is mounted on one
Individual wheel, wheel motor has the function that cuts off self-lock.
Further, two described gyroscopes are respectively arranged in centre position of the chassis underside face close to front and back end,
The lithium battery of two pieces of offer power is installed between two gyroscopes of chassis underside.
Brief description of the drawings
Fig. 1 is outward appearance overall schematic of the present invention.
Fig. 2 is polycrystalline substance schematic diagram of the invention.
Fig. 3 is left front leg centre position of the present invention diagrammatic cross-section.
Fig. 4 crosses the process schematic of step for the present invention.
Fig. 5 crosses the process schematic of unilateral raised obstacle for the present invention.
Drawing reference numeral：1 chassis, 2 steering wheels, 2.1 steering wheel output shafts, 3 hollow shaft motors, 4 lithium batteries, 5 timing belts, 6 are synchronously
With leg, 8 times legs, 9 wheels, 10 wheel motors, 11 gyroscopes, 12 timing belt driving wheels, 13 bearings on driven pulley, 7.
Embodiment
With reference to specific embodiment, the invention will be further described, the illustrative examples and explanation invented herein
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, Figure 2, Figure 3 shows, many wheel full landform robot cars of leg, include chassis 1, steering wheel 2, hollow shaft motor 3, lithium
Battery 4, timing belt 5, timing belt driven pulley 6, upper leg 7, lower leg 8, wheel 9, wheel motor 10, gyroscope 11, timing belt driving
Wheel 12, bearing 13, it is characterised in that：Six hollow shaft motors 3 are respectively arranged at the lower edge of chassis 1 by screw, each
The rear end of hollow shaft motor 3 is mounted on a steering wheel 2 with long output shaft, and the output shaft of steering wheel 2 passes through hollow shaft motor 3
Center, is mounted on two bearings 13, each between each output shaft of steering wheel 2 and the corresponding output shaft inwall of hollow shaft motor 3
The shaft end of the output shaft of hollow shaft motor 3 is installed with a timing belt driving wheel 12, and the shaft end of each output shaft of steering wheel 2 is equal
It is connected with the circular hole of a upper upper end of leg 7, equal and a lower upper end of leg 8 the axle of circular hole of each upper lower end of leg 7 rotates connection, often
The shaft end of the individual upper shaft of lower leg 8 is installed with a timing belt driven pulley 6, each timing belt driving wheel 12 and corresponding same
A ring-shaped synchronous belt 5 is mounted between step band driven pulley 6, each the lower lower end of leg 8 is mounted on a wheel motor 10, often
The shaft end of the individual output shaft of wheel motor 10 is mounted on a wheel 9, and wheel motor 10 has the function that cuts off self-lock.
Two described gyroscopes 11 are respectively arranged in centre position of the downside of chassis 1 close to front and back end, under chassis 1
The lithium battery 4 of two pieces of offer power is installed between the gyroscope 11 of side two.
Embodiments of the invention：
As shown in figure 4, when taking turns the full landform robot car of leg (hereinafter referred robot car) more and needing to climb up and over step obstacle,
As shown in Fig. 4 (a), robot car is firstly moved to below step；As shown in Fig. 4 (b), under the driving of two preceding steering wheels 2, two
The individual rotate counterclockwise of front upper leg 7 moves certain position, then two front lower legs 8 under the driving of two preceding hollow shaft motors 3
Rotate counterclockwise, when two front vehicle wheels 9 touch the step upper surface to be climbed up and over, two front lower legs 8 stop the rotation；Such as Fig. 4
(c) shown in, robot car is continued to move along under the driving of wheel 9, when two intermediate wheels 9 will contact step facade,
Robot car stops movement；As shown in Fig. 4 (d), the rotate counterclockwise under the driving of two middle steering wheels 2 of leg 7 on two centres
To certain position, under the driving of two central hollow spindle motors 3, leg 8 is rotated clockwise to after certain position under two centres
Stop；As shown in Fig. 4 (e), in the case where two front vehicle wheels 9 and two rear wheels 9 drive, robot car is moved forward, after two
Wheel 9 is moved close to stopping during step facade；As shown in Fig. 4 (f), after two under the driving of steering wheel 2, upper leg 7 is inverse after two
Hour hands turn to certain position, after two under the driving of hollow shaft motor 3, and lower leg 8 is rotated clockwise to a positioning after two
Postpone stopping；As shown in Fig. 4 (g), in the case where two preceding steering wheels 2 drive, two front upper legs 7 are rotated counterclockwise, the rudder in the middle of two
Under the driving of machine 2, leg 7 is rotated clockwise on two centres, and rise is gradually lifted on chassis 1 on high step；Such as Fig. 4 (h) institutes
Show, each upper leg 7, lower leg 8 are rotated further, realize the original state for crossing step.
As shown in figure 5, when robot car needs to cross unilateral raised obstacle, shown in such as Fig. 5 (a), robot car movement
To near unilateral raised obstacle；As shown in Fig. 5 (b), right front upper leg 7 is rotated clockwise, right front lower leg 8 is rotated counterclockwise, makes the right side
Front vehicle wheel 9 falls within raised obstacle upper surface；As shown in Fig. 5 (c), robot car is moved forward under the driving of wheel 9, same with this
When, leg 7 is rotated clockwise to certain position on centre, and the lower leg 8 in centre rotates counterclockwise to certain position；As shown in Fig. 5 (d),
Robot car is continued to move along, and right front wheel 9 leaves raised obstacle upper surface；As shown in Fig. 5 (e), right front upper leg 7 is counterclockwise
Turn to certain position, right front lower leg 8, which is rotated clockwise to certain position, makes right front wheel 9 touch ground, identical principle,
Right rear wheel 9 can also cross unilateral raised obstacle.Chassis angle of inclination is monitored in real time by two gyroscopes 11 in the process,
And data are transmitted to controller, controller control respective leg is rotated, and realizes negative feedback closed loop control, it is ensured that begin on chassis 1
Horizontality is in eventually, and the normal work for being installed on the One On The Chassis other equipment is ensured with this.
The mutual cooperation of six supporting legs can make robot car cross gully obstacle.
On the rough ground that wheel 9 drives is not suitable for, robot car can be replaced by three supporting legs for being not at the same side
Swing, realize the forms of motion of bionical multiple-legged walking.
Claims (2)
1. more take turns the full landform robot car of leg, include chassis (1), steering wheel (2), hollow shaft motor (3), lithium battery (4), timing belt
(5), timing belt driven pulley (6), upper leg (7), lower leg (8), wheel (9), wheel motor (10), gyroscope (11), timing belt drive
Driving wheel (12), bearing (13), it is characterised in that：Six hollow shaft motors (3) are respectively arranged in chassis (1) lower side by screw
At edge, the rear end of each hollow shaft motor (3) is mounted on a steering wheel (2) with long output shaft, and steering wheel (2) output shaft is worn
The center of hollow shaft motor (3) is crossed, between each steering wheel (2) output shaft and corresponding hollow shaft motor (3) output shaft inwall
Two bearings (13) are installed, the shaft end of each hollow shaft motor (3) output shaft is installed with a timing belt driving wheel
(12), circular hole of the shaft end of each steering wheel (2) output shaft with upper leg (7) upper end is connected, each the circle of upper leg (7) lower end
The axle of Kong Jun and lower leg (8) upper end rotates connection, each descends the shaft end of leg (8) upper shaft to be installed with a synchronization
Band driven pulley (6), is mounted on an annular same between each timing belt driving wheel (12) and corresponding timing belt driven pulley (6)
Step band (5), each descends leg (8) lower end to be mounted on a wheel motor (10), the shaft end of each wheel motor (10) output shaft
A wheel (9) is mounted on, wheel motor (10) has the function that cuts off self-lock.
2. many wheel full landform robot cars of leg as claimed in claim 1, it is characterised in that：Two gyroscopes (11) are respectively mounted
In chassis (1) downside close to the centre position of front and back end, two pieces are provided between two gyroscopes (11) on the downside of chassis (1)
The lithium battery (4) of power is provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710563228.5A CN107323563B (en) | 2017-07-12 | 2017-07-12 | More full landform robot cars of wheel leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710563228.5A CN107323563B (en) | 2017-07-12 | 2017-07-12 | More full landform robot cars of wheel leg |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107323563A true CN107323563A (en) | 2017-11-07 |
| CN107323563B CN107323563B (en) | 2019-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710563228.5A Active CN107323563B (en) | 2017-07-12 | 2017-07-12 | More full landform robot cars of wheel leg |
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| CN (1) | CN107323563B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110371212A (en) * | 2019-07-31 | 2019-10-25 | 武汉科技大学 | Barrier-surpassing robot and its obstacle-detouring method |
| CN110539820A (en) * | 2019-09-16 | 2019-12-06 | 北京理工大学 | vehicle with a steering wheel |
| CN110816709A (en) * | 2019-11-18 | 2020-02-21 | 中国北方车辆研究所 | Obstacle crossing control method for six-wheel rocker arm suspension vehicle |
| CN111319696A (en) * | 2020-02-26 | 2020-06-23 | 安徽延达智能科技有限公司 | Multi-foot face recognition intelligent robot |
| CN112744310A (en) * | 2020-12-29 | 2021-05-04 | 诸暨市蓝了电子科技有限公司 | Multi-action-dimension wheeled walking foot of robot and multi-foot robot |
| CN114655326A (en) * | 2022-04-21 | 2022-06-24 | 湖北工业大学 | Obstacle-surmounting robot capable of adapting to complex environment |
| CN114771687A (en) * | 2022-05-07 | 2022-07-22 | Oppo广东移动通信有限公司 | Robot |
| CN115352547A (en) * | 2022-07-29 | 2022-11-18 | 北京电子科技职业学院 | Six-wheel autonomous robot motion control device |
| CN117469519A (en) * | 2023-12-22 | 2024-01-30 | 湖南千智机器人科技发展有限公司 | Carrier robot and application method |
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| CN104340291A (en) * | 2013-07-27 | 2015-02-11 | 彭寅沐 | Wheel leg type dual-purpose robot |
| US20150210327A1 (en) * | 2014-01-30 | 2015-07-30 | Robo-team Ltd. | Ground robot drive system |
| CN104875811A (en) * | 2015-06-12 | 2015-09-02 | 洛阳理工学院 | Wheel leg assisted composite obstacle crossing device |
| CN205131424U (en) * | 2015-10-09 | 2016-04-06 | 杭州南江机器人股份有限公司 | Leg formula robot shank structure |
| CN106892011A (en) * | 2017-04-18 | 2017-06-27 | 山东大学 | The walking combined mobile robot of crawler belt leg |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104340291A (en) * | 2013-07-27 | 2015-02-11 | 彭寅沐 | Wheel leg type dual-purpose robot |
| US20150210327A1 (en) * | 2014-01-30 | 2015-07-30 | Robo-team Ltd. | Ground robot drive system |
| CN104875811A (en) * | 2015-06-12 | 2015-09-02 | 洛阳理工学院 | Wheel leg assisted composite obstacle crossing device |
| CN205131424U (en) * | 2015-10-09 | 2016-04-06 | 杭州南江机器人股份有限公司 | Leg formula robot shank structure |
| CN106892011A (en) * | 2017-04-18 | 2017-06-27 | 山东大学 | The walking combined mobile robot of crawler belt leg |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110371212A (en) * | 2019-07-31 | 2019-10-25 | 武汉科技大学 | Barrier-surpassing robot and its obstacle-detouring method |
| CN110539820A (en) * | 2019-09-16 | 2019-12-06 | 北京理工大学 | vehicle with a steering wheel |
| CN110816709A (en) * | 2019-11-18 | 2020-02-21 | 中国北方车辆研究所 | Obstacle crossing control method for six-wheel rocker arm suspension vehicle |
| CN110816709B (en) * | 2019-11-18 | 2020-12-01 | 中国北方车辆研究所 | Obstacle crossing control method for six-wheel rocker arm suspension vehicle |
| CN111319696A (en) * | 2020-02-26 | 2020-06-23 | 安徽延达智能科技有限公司 | Multi-foot face recognition intelligent robot |
| CN112744310A (en) * | 2020-12-29 | 2021-05-04 | 诸暨市蓝了电子科技有限公司 | Multi-action-dimension wheeled walking foot of robot and multi-foot robot |
| CN114655326A (en) * | 2022-04-21 | 2022-06-24 | 湖北工业大学 | Obstacle-surmounting robot capable of adapting to complex environment |
| CN114655326B (en) * | 2022-04-21 | 2023-02-03 | 湖北工业大学 | Obstacle-surmounting robot capable of adapting to complex environment |
| CN114771687A (en) * | 2022-05-07 | 2022-07-22 | Oppo广东移动通信有限公司 | Robot |
| CN115352547A (en) * | 2022-07-29 | 2022-11-18 | 北京电子科技职业学院 | Six-wheel autonomous robot motion control device |
| CN117469519A (en) * | 2023-12-22 | 2024-01-30 | 湖南千智机器人科技发展有限公司 | Carrier robot and application method |
| CN117469519B (en) * | 2023-12-22 | 2024-03-22 | 湖南千智机器人科技发展有限公司 | Carrier robot and application method |
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| CN107323563B (en) | 2019-09-06 |
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Effective date of registration: 20190725 Address after: 325100 Room 702, No. 2 Lane, Wangyan Road, Shangtang Town, Yongjia County, Wenzhou City, Zhejiang Province Applicant after: Cai Yinhua Address before: 300393 Unit 503, 10th Floor, Shuixi Court, Zhongbei Town, Xiqing District, Tianjin Applicant before: Lian Xuefang |
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Address after: 325000 Room 906, Building 7, Group 2, Huanglong Kangcheng, Shuangyu Street, Lucheng District, Wenzhou City, Zhejiang Province Applicant after: Cai Yinhua Address before: 325100 Room 702, No. 2 Lane, Wangyan Road, Shangtang Town, Yongjia County, Wenzhou City, Zhejiang Province Applicant before: Cai Yinhua |
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Effective date of registration: 20201030 Address after: 221000 Hanwang town government residence, Tongshan District, Xuzhou City, Jiangsu Province Patentee after: Xuzhou Tongshan Hanwang Agricultural Service Development Co.,Ltd. Address before: 325000 Room 906, Building 7, Group 2, Huanglong Kangcheng, Shuangyu Street, Lucheng District, Wenzhou City, Zhejiang Province Patentee before: Cai Yinhua |
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