CN107902006A - The active/passive pose adjustment robot of the full landform of wheel leg type - Google Patents
The active/passive pose adjustment robot of the full landform of wheel leg type Download PDFInfo
- Publication number
- CN107902006A CN107902006A CN201711105290.6A CN201711105290A CN107902006A CN 107902006 A CN107902006 A CN 107902006A CN 201711105290 A CN201711105290 A CN 201711105290A CN 107902006 A CN107902006 A CN 107902006A
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- CN
- China
- Prior art keywords
- suspension
- robot
- damping spring
- wheel
- actuator
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
- B60G7/02—Attaching arms to sprung part of vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/14—Mounting of suspension arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
- Manipulator (AREA)
Abstract
A kind of active/passive pose adjustment robot of the full landform of wheel leg type,Including a robot body,The radar system being arranged on robot body,It is front and rear,It is symmetrical set four robot list legs on robot body,Each robot list leg includes actuator,Connect the tripod of actuator,Connect the damping spring of tripod,Connect the double wishbone suspension of damping spring,Connect the steering motor of double wishbone suspension,Connect the wheel leg of steering motor,Connect the driving wheel with wheel hub motor of wheel leg,The tripod inferior horn connects robot body,Top two corners connect actuator and damping spring respectively,Double wishbone suspension includes suspension upper suspension arm and suspension lower control arm,Suspension upper suspension arm and suspension lower control arm one end are hinged at robot body,The other end is hinged with steering motor,The damping spring is connected with suspension upper suspension arm.The robot can realize that 360 degree turn to without dead angle, realize the switching of the active/passive pose adjustment pattern of robot.
Description
Technical field
It is specifically a kind of that there is excellent dynamics traveling the present invention relates to a kind of wheel leg type all-terrain moving robot
The active/passive pose adjustment robot of the full landform of wheel leg type of ride comfort.
Technical background
Legged type robot obstacle performance is good, but energy utilization rate is low；Wheeled robot mobility is good, but environment is fitted
Answering property is poor.Both advantages of wheel leg type all-terrain moving robot fusion, it is adaptable strong, mobility is good the advantages that, in army
The fields such as thing investigation, resource exploration, aerospace have wide practical use.Typical wheel robot leg has the U.S.
ATHLETE, Japanese Roller-Walker, ALDURO, Halluc-II, Polish LegVan etc..Conventional wheel robot leg is big
Motor is arranged in joint, the emphasis of research is concentrated mainly on active posture adjustment adjusting and obstacle performance etc. more.In recent years with
Going deep into for wheel leg robot research, researchers also gradually recognize the deficiency of conventional wheel robot leg, for example, joint carries
Lotus is concentrated, stability is difficult to control, smoothes out the problems such as poor performance.Such issues that in order to solve, researchers are in design wheel leg machine
Need more to go to consider its ride performance and control stability during device people.At present on ride of vehicle research
It is quite perfect, but in terms of the ride performance research of robot field is also concentrated mainly on the stability in vehicle body and its joint,
In design robot, often ignore its ride performance.The present invention is studied based on more than, bases oneself upon subject crossing theory by maturation
Automotive suspension structure be fused to wheel robot leg among, design a kind of new wheel leg type full ground type mobile robot, effectively
Improve wheel robot leg ride performance.
The content of the invention
The invention aims to provide a kind of full landform of wheel leg type active/passive pose adjustment robot, robot tool
There is excellent dynamics ride performance, can realize that 360 degree turn to without dead angle, can realize machine using four-wheel drive pattern
The switching of the active/passive pose adjustment pattern of people.
The object of the present invention is achieved like this：A kind of active/passive pose adjustment robot of the full landform of wheel leg type, the machine
People includes a robot body, the radar system being arranged on robot body, is symmetricly set on robot sheet around
Four robot list legs on body, each robot list leg include actuator, the tripod for connecting actuator, three feet of connection
The damping spring of frame, the double wishbone suspension of connection damping spring, connect the steering motor of double wishbone suspension, connect steering motor
Wheel leg, the driving wheel with wheel hub motor for connecting wheel leg, the tripod inferior horn connection robot body, top two corners difference
Connect actuator and damping spring, the double wishbone suspension includes suspension upper suspension arm and suspension lower control arm, on the suspension
Control arm and suspension lower control arm one end are hinged at robot body, the other end and steering motor are hinged, the damping bullet
Spring is connected with suspension upper suspension arm.
Advantages of the present invention and technique effect：
（1）The present invention can realize that 360 degree turn to without dead angle, can not exceed when longitudinal driving direction is run into using four-wheel drive pattern
Obstacle-overpass and when getting deeply stuck in wherein（Such as muddy road surface）, changeable travel direction, and then break away from obstacle.
（2）The present invention using wheel leg mechanism, it is adaptable strong, mobility is good the advantages that, surveyed in military affairs investigation, resource
The fields such as spy have to obtain the more thick advantages in day.
（3）The present invention is based on subject crossing theory, and automobile suspension system is incorporated into wheel leg type full ground anthropomorphic robot first
Design among, there is very strong realistic meaning.
（4）The present invention can realize the switching of the active/passive pose adjustment pattern of robot, can root when road conditions are bad
The road conditions synchronous adjustment actuator taken aim in advance according to radar works, and realizes pose adjustment, ensures excellent ride performance, at this time robot
For active pose adjustment,；When traveling is in preferable road conditions, actuator does not work, and utilizes the distinctive spring damping of robot itself
Suspension system can ensure preferable ride performance.The artificial passive pose adjustment of machine at this time.
（5）Suspension upper suspension arm of the present invention is designed using triangular structure, utilizes triangle inherently steady
Determine the intensity that characteristic effectively improves suspension system of the present invention.
（6）When actuator works, tripod shown in Fig. 2 can be by the controling power of actuator in the form of amplifying 1.2 times
The advantages of being delivered to damping spring, so designing is the active accommodation that body gesture can be achieved with less controling power, is improved
Energy utilization rate.
（7）Wheel leg type all-terrain moving robot of the present invention, can be in vehicle body under active attitude adjustment modes
Acceleration, suspension move stroke, opposite Passive Mode is lifted respectively in three ride performance performance indicators of tyre dynamic load lotus
2.334%、17.383%、0.595%。
Brief description of the drawings
Fig. 1 is robot overall structure diagram of the present invention.
Fig. 2 is Tu1Zhong robots list leg partial enlargement structural representation of the present invention.
Fig. 3 is double wishbone suspension enlarged drawing.
Embodiment
Embodiment of the present invention is as follows：
As shown in attached drawing 1：A kind of active/passive pose adjustment robot of the full landform of wheel leg type, the robot include a robot
Body 1, the radar system 2 being arranged on robot body 1, four machines being symmetricly set on around on robot body 1
Device people's list leg 3, each robot list leg 3 include actuator 3-1, the tripod 3-2 of connection actuator 3-1, three feet of connection
Frame 3-2 damping springs 3-3, the double wishbone suspension 3-4 of connection damping spring 3-3, the steering motor 3- of connection double wishbone suspension 3-4
5th, wheel leg 3-6, the driving wheel 3-8 with wheel hub motor 3-7 of connection wheel leg 3-6 of steering motor 3-5, the tripod are connected
3-2 inferior horns connection robot body 1, top two corners connect actuator 3-1 and damping spring 3-3, the double wishbone suspension respectively
3-4 includes suspension upper suspension arm 3-4-1 and suspension lower control arm 3-4-2（Fig. 3）, the suspension upper suspension arm 3-4-1 and suspension
Lower control arm 3-4-2 one end is hinged at robot body 1, the other end and steering motor 3-5 are hinged, the damping spring 3-
3 are connected with suspension upper suspension arm 3-4-1.
Shown in Fig. 2：Connected in articulated manner by ear piece between the actuator 3-1 and robot body 1, actuator
Connected between 3-1 and tripod 3-2 by hinged mode, pass through hinged mode between tripod 3-2 and damping spring 3-3
Connection, is connected, double wishbone suspension 3-4 and machine between damping spring 3-3 and suspension lower control arm 3-4-2 by hinged mode
Connected between human body 1 by hinged mode, be welding between corresponding ear piece and component, radar system 2 and robot sheet
It is to be bolted between body 1.
The wheel hub motor 3-7 constitutes the dynamical system of robot, and steering motor 3-5 constitutes the steering system of robot
System, driving wheel 3-8 constitute the driving system of robot, and the battery and control module are integrated among robot body 1
Form the electric system of robot, robot of the present invention carry radar system 2, with four-wheel steering, active/passive attitude regulation,
The functions such as four-wheel drive.Designed robot using left and right, front and rear symmetrical structure, overall dimension for 1200mm × 600mm ×
600mm, it is typical the characteristics of be to add automotive suspension element, concrete structure is as shown in Figure 2.
The present invention uses four-wheel drive pattern, and embodiment is to arrange wheel hub motor 3-7, wheel hub in each driving wheel
Motor 7-7 is connected by screw bolts with wheel, and the connection mode of wheel hub motor 3-7 and wheel leg 3-6, which are similarly, to be bolted；
Four-wheel steering function is to drive wheel leg 3-6 to rotate by steering motor 3-5, and then drives driving wheel 3-8 to realize and turn to, and is turned
Retarder is built-in with to motor 3-5, ensures that turning velocity is unlikely too fast, to improve control stability, four-wheel steering can be realized
360 degree turn to without dead angle.
It is to drive tripod 3-2 to rotate by actuator 3-1 that active attitude, which is adjusted, passes through tripod 3-2, damping spring 3-
2 secondary transmission, is delivered to suspension lower control arm 3-4-2 by controling power, realizes the adjustment of body gesture.
The present invention can realize the switching of the active/passive pose adjustment pattern of robot, can be according to thunder when road conditions are bad
The road conditions synchronous adjustment actuator 3-1 work taken aim in advance up to system 2, realizes pose adjustment, ensures excellent ride performance, this opportunity
The artificial active attitude adjustment of device,；When traveling is in preferable road conditions, actuator 3-1 does not work, and utilizes the distinctive bullet of robot itself
Spring damping suspension system can ensure preferable ride performance.The artificial passive pose adjustment of machine at this time.Full car arranges four
Actuator, it can be achieved that in the range of pitching, inclination multi-angle active attitude adjustment, realize excellent obstacle detouring and ride performance.
Battery of the present invention and control module are integrated among robot body 1, this is not the research of the present invention
Emphasis, therefore be not described in detail.
Claims (2)
- A kind of 1. active/passive pose adjustment robot of the full landform of wheel leg type, it is characterised in that：The robot includes a robot Body（1）, be arranged on robot body（1）On radar system（2）, robot body is symmetricly set on around（1）On Four robot list legs（3）, each robot list leg（3）Including actuator（3-1）, connection actuator（3-1）Three Foot stool（3-2）, connection tripod（3-2）Damping spring（3-3）, connection damping spring（3-3）Double wishbone suspension（3-4）、 Connect double wishbone suspension（3-4）Steering motor（3-5）, connection steering motor（3-5）Wheel leg（3-6）, connection wheel leg（3-6） Carry wheel hub motor（3-7）Driving wheel（3-8）, the tripod（3-2）Inferior horn connects robot body（1）, top two Angle connects actuator respectively（3-1）And damping spring（3-3）, the double wishbone suspension（3-4）Including suspension upper suspension arm（3-4- 1）With suspension lower control arm（3-4-2）, the suspension upper suspension arm（3-4-1）With suspension lower control arm（3-4-2）One end and machine Device human body（1）It is hinged at, the other end and steering motor（3-5）It is hinged, the damping spring（3-3）With suspension upper suspension arm （3-4-1）Connection.
- A kind of 2. active/passive pose adjustment robot of the full landform of wheel leg type according to claim 1, it is characterised in that：Institute State actuator（3-1）With robot body（1）Between connected in articulated manner by ear piece, actuator（3-1）With tripod （3-2）Between connected by hinged mode, tripod（3-2）With damping spring（3-3）Between connected by hinged mode, Damping spring（3-3）With suspension lower control arm（3-4-2）Between connected by hinged mode, double wishbone suspension（3-4）With machine Device human body（1）Between connected by hinged mode, between corresponding ear piece and component for welding, radar system（2）With machine Device human body（1）Between to be bolted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711105290.6A CN107902006B (en) | 2017-11-10 | 2017-11-10 | Wheel leg type all-terrain active/passive attitude adjusting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711105290.6A CN107902006B (en) | 2017-11-10 | 2017-11-10 | Wheel leg type all-terrain active/passive attitude adjusting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107902006A true CN107902006A (en) | 2018-04-13 |
| CN107902006B CN107902006B (en) | 2020-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711105290.6A Expired - Fee Related CN107902006B (en) | 2017-11-10 | 2017-11-10 | Wheel leg type all-terrain active/passive attitude adjusting robot |
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| Country | Link |
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| CN (1) | CN107902006B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108058755A (en) * | 2017-12-04 | 2018-05-22 | 吉林大学 | Double triangle suspension wheel leg type all-terrain moving robot |
| CN108891219A (en) * | 2018-07-13 | 2018-11-27 | 太原科技大学 | A kind of imitative kangaroo leg suspension of MR |
| CN109109589A (en) * | 2018-07-26 | 2019-01-01 | 苏州仓格汽车科技有限公司 | A kind of full landform carrying platform of wheel leg type |
| CN109515553A (en) * | 2018-12-04 | 2019-03-26 | 深圳前海达闼云端智能科技有限公司 | Transport robot and vehicle body thereof |
| CN109515087A (en) * | 2018-11-02 | 2019-03-26 | 吉林大学 | A kind of all-terrain moving robot with active independent suspension system |
| CN110254551A (en) * | 2019-07-16 | 2019-09-20 | 南京农业大学 | A kind of structure changes plant phenotype detection mobile robot |
| CN111098948A (en) * | 2019-12-11 | 2020-05-05 | 中国飞机强度研究所 | Leg wheel type automobile walking mechanism and control method |
| DE102020123401A1 (en) | 2020-09-08 | 2022-03-10 | Schaeffler Technologies AG & Co. KG | Wheel module for a vehicle, vehicle with the wheel module and method for expanding a steering angle |
| CN114179110A (en) * | 2021-12-31 | 2022-03-15 | 国家石油天然气管网集团有限公司 | Inspection robot |
| CN115091910A (en) * | 2022-08-24 | 2022-09-23 | 中铁工程服务有限公司 | Inspection robot chassis based on full steering technology and moving method |
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2017
- 2017-11-10 CN CN201711105290.6A patent/CN107902006B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4266627A (en) * | 1978-02-22 | 1981-05-12 | Willy Habegger | Traveling assembly and wheel suspension for a rolling and stepping vehicle |
| CN101214833A (en) * | 2008-01-09 | 2008-07-09 | 湖南大学 | Initiatively rocking arm variable diamond-type four-wheel lunar rover moving system |
| CN102490911A (en) * | 2011-12-16 | 2012-06-13 | 大连理工大学 | Lunar surface walking device for lunar rover |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108058755A (en) * | 2017-12-04 | 2018-05-22 | 吉林大学 | Double triangle suspension wheel leg type all-terrain moving robot |
| CN108891219A (en) * | 2018-07-13 | 2018-11-27 | 太原科技大学 | A kind of imitative kangaroo leg suspension of MR |
| CN109109589A (en) * | 2018-07-26 | 2019-01-01 | 苏州仓格汽车科技有限公司 | A kind of full landform carrying platform of wheel leg type |
| CN109515087A (en) * | 2018-11-02 | 2019-03-26 | 吉林大学 | A kind of all-terrain moving robot with active independent suspension system |
| CN109515087B (en) * | 2018-11-02 | 2021-09-14 | 吉林大学 | All-terrain mobile robot with active independent suspension system |
| CN109515553A (en) * | 2018-12-04 | 2019-03-26 | 深圳前海达闼云端智能科技有限公司 | Transport robot and vehicle body thereof |
| CN110254551A (en) * | 2019-07-16 | 2019-09-20 | 南京农业大学 | A kind of structure changes plant phenotype detection mobile robot |
| CN111098948A (en) * | 2019-12-11 | 2020-05-05 | 中国飞机强度研究所 | Leg wheel type automobile walking mechanism and control method |
| DE102020123401A1 (en) | 2020-09-08 | 2022-03-10 | Schaeffler Technologies AG & Co. KG | Wheel module for a vehicle, vehicle with the wheel module and method for expanding a steering angle |
| CN114179110A (en) * | 2021-12-31 | 2022-03-15 | 国家石油天然气管网集团有限公司 | Inspection robot |
| CN115091910A (en) * | 2022-08-24 | 2022-09-23 | 中铁工程服务有限公司 | Inspection robot chassis based on full steering technology and moving method |
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