CN107323563B - More full landform robot cars of wheel leg - Google Patents
More full landform robot cars of wheel leg Download PDFInfo
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- CN107323563B CN107323563B CN201710563228.5A CN201710563228A CN107323563B CN 107323563 B CN107323563 B CN 107323563B CN 201710563228 A CN201710563228 A CN 201710563228A CN 107323563 B CN107323563 B CN 107323563B
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- Prior art keywords
- wheel
- leg
- motor
- output shaft
- steering engine
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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 the full landform robot car of more wheel legs, include chassis, steering engine, hollow shaft motor, lithium battery, synchronous 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 engine, steering engine output shaft passes through the center of hollow shaft motor, each hollow shaft motor output shaft is mounted on synchronous pulley, each steering engine output shaft is connected with a upper leg, each upper leg lower end is rotatablely connected with a lower leg, each lower leg upper end is mounted on a synchronous pulley, synchronous 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 of to cut off self-lock, gyroscope and lithium electricity Pond is installed on chassis underside.
Description
Technical field
Combining the present invention relates to a kind of more wheel legs can adapt to the mobile robot car of full landform, more particularly to
A kind of full landform robot car of more wheel legs.
Background technique
With the continuous development of all-terrain vehicle technology and perfect, all-terrain vehicle is resource exploration, jungle are searched and rescued, sandy beach chases after
Catch, engineering exploration, military surveillance, disaster search and rescue etc. fields 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
Use this mechanism, be suitble to flat road surface walk, but due to all-terrain vehicle frequently encountered in operation it is at the end of one's rope
Situation, so simple ratcheting mechanism is not appropriate for all-terrain vehicle；Crawler type mechanism has stronger passability, but for complete
The more rugged environment such as sandy beach, rock, jungle that landform vehicle frequently encounters especially encounters relatively deep wide trench and higher steep
Step when also just it is helpless；Legs and feet formula mechanism has biggish limitation to working environment, in this need of all-terrain vehicle
It wants seldom to apply in the vehicle of frequent conversion work environment.
Current walking mechanism oneself through obviously cannot the complex landforms such as all-terrain adaptable Che Ru resource exploration carry out operation
Requirement.In order to improve working efficiency of the all-terrain vehicle in complex environment, a kind of can more be suitble in complex landform progress is selected
The walking mechanism of work, it appears particularly significant.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of more full landform robot cars of wheel leg, the machines
Device people vehicle in complicated adverse circumstances with very high adaptability and it is good cross protrusion, gully and step ability.
The technical scheme adopted by the invention is as follows: more full landform robot cars of wheel leg include chassis, steering engine, hollow shaft electricity
Machine, lithium battery, synchronous belt, synchronous belt driven wheel, upper leg, lower leg, wheel, wheel motor, gyroscope, synchronous belt driving wheel, axis
It holds, 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 the steering engine with long output shaft, and steering engine output shaft passes through the center of hollow shaft motor, and each steering engine is defeated
Bearing there are two being respectively mounted between shaft and corresponding hollow shaft motor output shaft inner wall, the axis of each hollow shaft motor output shaft
End is fixedly installed with a synchronous belt driving wheel, and the shaft end of each steering engine output shaft is solid with the circular hole of a upper leg upper end
Even, the circular hole of each upper leg lower end is and the rotation connection of the axis of a lower leg upper end, the shaft end of each lower leg upper shaft are fixed
One synchronous belt driven wheel is installed, a ring is mounted between each synchronous belt driving wheel and corresponding synchronous belt driven wheel
Shape synchronous 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
A wheel, wheel motor have the function of to cut off self-lock.
Further, two gyroscopes are respectively arranged in chassis underside face close to the middle position of front and back end,
The lithium battery of two pieces of offer power is installed between two gyroscopes of chassis underside.
Detailed description of the invention
Fig. 1 is appearance overall schematic of the present invention.
Fig. 2 is bottom substance schematic diagram of the invention.
Fig. 3 is left front leg middle position of the present invention diagrammatic cross-section.
Fig. 4 is the process schematic that the present invention crosses step.
Fig. 5 is the process schematic that the present invention crosses unilateral raised obstacle.
Drawing reference numeral: 1 chassis, 2 steering engines, 2.1 steering engine output shafts, 3 hollow shaft motors, 4 lithium batteries, 5 synchronous belts, 6 synchronize
With leg, 8 lower legs, 9 wheels, 10 wheel motors, 11 gyroscopes, 12 synchronous belt driving wheels, 13 bearings on driven wheel, 7.
Specific embodiment
The invention will be further described combined with specific embodiments below, in the illustrative examples and explanation of the invention
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, the full landform robot car of more wheel legs includes chassis 1, steering engine 2, hollow shaft motor 3, lithium
Battery 4, synchronous belt 5, synchronous belt driven wheel 6, upper leg 7, lower leg 8, wheel 9, wheel motor 10, gyroscope 11, synchronous belt driving
Take turns 12, bearing 13, it is characterised in that: six hollow shaft motors 3 are respectively arranged at 1 lower edge of chassis by screw, each
The rear end of hollow shaft motor 3 is mounted on the steering engine 2 with long output shaft, and 2 output shaft of steering engine passes through hollow shaft motor 3
Center is respectively mounted between each 2 output shaft of steering engine and corresponding 3 output shaft inner wall of hollow shaft motor there are two bearing 13, each
The shaft end of 3 output shaft of hollow shaft motor is fixedly installed with a synchronous belt driving wheel 12, and the shaft end of each 2 output shaft of steering engine is equal
Connected with the circular hole of upper 7 upper end of leg, the circular hole of each upper 7 lower end of leg is rotatablely connected with the axis of lower 8 upper end of leg, often
The shaft end of a 8 upper shaft of lower leg is fixedly installed with a synchronous belt driven wheel 6, each synchronous belt driving wheel 12 and corresponding same
It is mounted on a ring-shaped synchronous belt 5 between step band driven wheel 6, each lower 8 lower end of leg is mounted on a wheel motor 10, often
The shaft end of a 10 output shaft of wheel motor is mounted on a wheel 9, and wheel motor 10 has the function of to cut off self-lock.
Two gyroscopes 11 are respectively arranged in 1 downside of chassis close to the middle position of 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.
The embodiment of the present invention:
As shown in figure 4, when the full landform robot car of more wheel legs (hereinafter referred robot car) needs 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 engines 2, two
Rotation turns to certain position to a front upper leg 7 counterclockwise, then two front lower legs 8 under the driving of two preceding hollow shaft motors 3
It rotates counterclockwise, when two front vehicle wheels 9 touch the step upper surface to be climbed up and over, two front lower legs 8 stop rotating；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), leg 7 rotates counterclockwise under the driving of two intermediate steering engines 2 on two centres
To certain position, under the driving of two central hollow spindle motors 3, after leg 8 is rotated clockwise to 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
Stop movement when wheel 9 is close to step facade；As shown in Fig. 4 (f), after two under the driving of steering engine 2, upper leg 7 is inverse after two
Hour hands turn to certain position, and after two under the driving of hollow shaft motor 3, 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 engines 2 drive, two front upper legs 7 are rotated counterclockwise, in two intermediate rudders
Under the driving of machine 2, leg 7 is rotated clockwise on two centres, and raising is gradually lifted on chassis 1 on high step；Such as Fig. 4 (h) institute
Show, each upper leg 7, lower leg 8 continue to rotate, and realize the original state for crossing step.
As shown in figure 5, as shown in Fig. 5 (a), robot car is mobile when robot car needs to cross unilateral raised obstacle
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 continues 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
Turning 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.In the process by two 11 real-time monitoring chassis tilt angles of gyroscope,
And data are transmitted to controller, controller control respective leg is rotated, and realizes negative feedback closed loop control, guarantees that chassis 1 is begun
It is in horizontality eventually, 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 being not suitable for the rough ground that wheel 9 drives, robot car can be replaced by three supporting legs for being not at the same side
It swings, realizes the forms of motion of bionical multiple-legged walking.
Claims (2)
1. the full landform robot car of wheel leg more than includes chassis (1), steering engine (2), hollow shaft motor (3), lithium battery (4), synchronous belt
(5), synchronous belt driven wheel (6), upper leg (7), lower leg (8), wheel (9), wheel motor (10), gyroscope (11), synchronous 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 the steering engine (2) with long output shaft, and steering engine (2) output shaft is worn
The center of hollow shaft motor (3) is crossed, between each steering engine (2) output shaft and corresponding hollow shaft motor (3) output shaft inner wall
There are two bearing (13) for installation, and the shaft end of each hollow shaft motor (3) output shaft is fixedly installed with a synchronous belt driving wheel
(12), circular hole of the shaft end of each steering engine (2) output shaft with upper leg (7) upper end is connected, each the circle of upper leg (7) lower end
The axis rotation connection of Kong Jun and lower leg (8) upper end, each descends the shaft end of leg (8) upper shaft to be fixedly installed with a synchronization
Band driven wheel (6), it is same to be mounted on an annular between each synchronous belt driving wheel (12) and corresponding synchronous belt driven wheel (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
It is mounted on a wheel (9), wheel motor (10) has the function of to cut off self-lock.
2. more full landform robot cars of wheel leg as described in claim 1, it is characterised in that: two gyroscopes (11) are installed respectively
In chassis (1) downside close to the middle position of front and back end, two pieces are equipped between two gyroscopes (11) in chassis (1) downside
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 |
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| Publication Number | Publication Date |
|---|---|
| CN107323563A CN107323563A (en) | 2017-11-07 |
| CN107323563B true 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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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110371212B (en) * | 2019-07-31 | 2020-12-01 | 武汉科技大学 | Obstacle crossing robot and obstacle crossing method thereof |
| CN110539820A (en) * | 2019-09-16 | 2019-12-06 | 北京理工大学 | vehicle with a steering wheel |
| 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 |
| 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 |
| 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 |
Citations (4)
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL230750B (en) * | 2014-01-30 | 2018-02-28 | Wolf Yosi | Ground robot drive system |
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2017
- 2017-07-12 CN CN201710563228.5A patent/CN107323563B/en active Active
Patent Citations (4)
| 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 |
| 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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| CN107323563A (en) | 2017-11-07 |
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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 |