CN109878592B

CN109878592B - Wheel-leg composite walking device

Info

Publication number: CN109878592B
Application number: CN201910299874.4A
Authority: CN
Inventors: 秦建军; 高磊; 李鑫磊; 黄梦雨; 林键; 路可欣
Original assignee: Beijing University of Civil Engineering and Architecture
Current assignee: Beijing University of Civil Engineering and Architecture
Priority date: 2019-04-15
Filing date: 2019-04-15
Publication date: 2020-12-15
Anticipated expiration: 2039-04-15
Also published as: CN109878592A

Abstract

The invention discloses a wheel-leg composite walking device, which comprises a toothed ring and three walking legs arranged on the toothed ring, wherein the walking legs comprise: the driving wheel support is arranged on the driving wheel support and used for driving a gear, the second motor is arranged on the wheel frame and used for driving the traveling wheels, two of the three traveling legs are in a traveling state, and the third traveling leg is in an obstacle crossing standby state on the gear ring. The wheel-leg composite walking device can advance on a smooth road in a walking wheel rolling mode, and when an obstacle is encountered, the control part on the device controls the first motors and the telescopic rods on the multiple walking legs to be matched with each other, so that the purpose of crossing the obstacle is achieved, and the moving stability of the wheel-leg composite walking device is improved.

Description

Wheel-leg composite walking device

Technical Field

The invention relates to the field of robot walking devices, in particular to a wheel-leg composite walking device.

Background

At present, deformable robot mechanisms on the market are various, although changeable styles are abundant, the structures are too complex, and the movement of certain simple structured terrains cannot be completed, so that a robot which can be suitable for simple terrains and complex terrains needs to be designed.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide a wheel-leg composite walking device which can achieve the purpose of crossing obstacles.

Therefore, the invention provides a wheel-leg composite walking device, which comprises a toothed ring and three walking legs arranged on the toothed ring, wherein the walking legs comprise: the driving wheel support is arranged on the driving wheel support and used for driving a gear, the second motor is arranged on the wheel frame and used for driving the traveling wheels, two of the three traveling legs are in a traveling state, and the third traveling leg is in an obstacle crossing standby state on the gear ring.

The invention also provides a wheel-leg composite walking device, which comprises a guide ring and a plurality of walking legs arranged on the guide ring, wherein the walking legs comprise: the wheel support comprises a driving wheel support, a roller wheel, a first motor, a telescopic rod, a wheel frame, a traveling wheel and a second motor, wherein matching surfaces of the guide circular ring and the roller wheel are rough surfaces, so that the guide circular ring and the roller wheel do not slip in the relative motion process, two of the plurality of traveling legs are in a traveling state, and other traveling legs are in an obstacle crossing standby state on the guide circular ring.

The wheel-leg composite walking device can advance on a smooth road in a walking wheel rolling mode, and when an obstacle is encountered, the control part on the device controls the first motors and the telescopic rods on the multiple walking legs to be matched with each other, so that the purpose of crossing the obstacle is achieved, and the moving stability of the wheel-leg composite walking device is improved.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural view of the composite wheel-leg walking device of the present invention;

FIG. 2 is a schematic structural view of a walking leg of the wheel-leg composite walking device of the present invention; and

fig. 3 a-3 e are schematic diagrams of the deformation process of the wheel-leg composite walking device of the invention.

Description of the reference numerals

1. A gear; 2. A first motor;

3. a drive wheel support; 4. A telescopic rod;

5. a wheel frame; 6. A second motor;

7. a traveling wheel; 10. A walking leg;

20. a toothed ring.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Fig. 1-3 illustrate some embodiments according to the invention.

In one embodiment, as shown in fig. 1, a wheel-leg composite walking device includes: the walking leg comprises a gear ring 20 and three walking legs 10, wherein each walking leg 10 comprises a gear 1, a first motor 2, a driving wheel bracket 3, a telescopic rod 4, a wheel frame 5, a walking wheel 7 and a second motor 6.

Specifically, as shown in fig. 1 and 2, the first motor 2 is fixed outside the driving wheel support 3, the first motor 2 is in key transmission with the gear 1, and the gear 1 is supported on the driving wheel support 3 through a pin and can rotate, wherein the driving wheel support 3 is in a U-shaped block structure, an inner end surface of the driving wheel support 3 is an arc surface, is concentric with an outer ring surface of the gear ring 20, and can slide on the driving wheel support 3.

Specifically, as shown in fig. 2, a telescopic rod 4 is fixed on the lower end surface of the driving wheel support 3, a wheel frame 5 is fixed at the tail end of the telescopic rod 4, and a second motor 6 is fixed on one side of the wheel frame 5 and is in key transmission with a traveling wheel 7, so that the device travels.

In this embodiment, a plurality of transmission teeth matched with the gear 1 are uniformly arranged on the inner side of the gear ring 20, and the gear is meshed with the gear ring, so that the walking legs 10 can move more smoothly and accurately on the gear ring 20.

The deformation process of the walking legs of the wheel leg composite walking device is as follows:

as shown in fig. 3a, during normal walking, the first walking leg 10 ' and the second walking leg 10 "are respectively in contact with the ground, the third walking leg 10 '" is in a compressed state and in a suspended state, when the sensor mounted on the toothed ring 20 or the sensor mounted on the walking leg 10 at the front end of the device detects that the road surface in front is uneven, as shown in fig. 3b, the control device controls the first walking leg 10 ' to start to compress, the second walking leg 10 "to start to extend, during this process, the center of the whole walking device moves forward, as shown in fig. 3c, the third walking leg 10 '" moves around the toothed ring and moves to the front end of the advancing direction of the device, namely, is located in front of the first walking leg 10 '.

As shown in fig. 3d, during the movement of the third walking leg 10 '″, the telescopic rod of the third walking leg 10' ″ extends and contacts with the ground, wherein the foot point of the third walking leg 10 '″ is located at the front side of the obstacle, and at the same time, the telescopic rod of the first walking leg 10' contracts, so that the height of the walking wheel is higher than that of the obstacle, as shown in fig. 3e, after the first walking leg 10 'crosses the obstacle, the telescopic rod of the first walking leg 10' continues to extend, and the telescopic rod of the second walking leg 10 ″ contracts and is in a suspended state, so as to realize the crossing of the obstacle.

In another embodiment, a wheel-leg composite walking device has the same structure as the device in the previous embodiment, only a guide ring is used to replace a gear ring, and a driving roller wheel is used to replace a gear, wherein the inner surface of the guide ring has higher roughness, the driving roller wheel is a metal roller wheel with a frosted or embossed cylindrical surface, or a rubber wheel with high roughness is used, and in the matching process of the driving roller wheel and the guide ring, because the friction force is higher, the walking leg 10 can move more smoothly and accurately on the guide ring.

In another embodiment, a wheel-leg composite walking device comprises a toothed ring 20 and more than three walking legs 10, wherein only two walking legs 10 are in contact with the ground in the moving process of the device, other walking legs 10 are in a suspended standby state, and when deformation is needed, other walking legs 10 are in contact with the ground in sequence to realize a crossing function.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a compound running gear of wheel leg which characterized in that includes: a toothed ring (20) and three walking legs (10) arranged on the toothed ring (20),

each walking leg (10) comprising: a driving wheel bracket (3), a gear (1), a first motor (2), a telescopic rod (4), a wheel frame (5), a walking wheel (7) and a second motor (6),

the gear (1) is arranged in the U-shaped block-shaped driving wheel bracket (3) and is rotationally connected with the same, the gear (1) is also in gear engagement with the gear ring (20),

the first motor (2) is arranged on the driving wheel bracket (3), is in transmission connection with the gear (1) and is used for driving the gear (1) independently so that the walking legs (10) can move circularly around the gear ring (20),

the second motor (6) is arranged on the wheel frame (5) and used for driving the travelling wheels (7) to rotate around the wheel frame (5), and two ends of the telescopic rod (4) are respectively connected with the wheel frame (5) and the driving wheel bracket (3) and used for adjusting the length of the travelling legs (10);

two walking legs (10) of the three walking legs (10) are in a walking state, and the third walking leg (10) is in an obstacle-crossing standby state on the toothed ring.

2. The wheel-leg composite walking device according to claim 1, wherein the number of the walking legs (10) is more than three, the gear ring (20) is replaced by a guide ring, and the gear is replaced by a roller, wherein the matching surfaces of the guide ring and the roller are rough surfaces, so that the slippage phenomenon is avoided during the relative movement of the guide ring and the roller.