CN110789632A - Four-foot wheeled robot - Google Patents
Four-foot wheeled robot Download PDFInfo
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- CN110789632A CN110789632A CN201911095012.6A CN201911095012A CN110789632A CN 110789632 A CN110789632 A CN 110789632A CN 201911095012 A CN201911095012 A CN 201911095012A CN 110789632 A CN110789632 A CN 110789632A
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- leg
- supporting leg
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- movement mechanism
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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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Abstract
The invention relates to the technical field of robots, and discloses a four-foot wheeled robot, which comprises: the device comprises a trunk, a wheel type movement mechanism and four leg movement mechanisms arranged on the trunk; the wheel type movement mechanism comprises a power element and at least three wheels arranged at the bottom of the trunk, and the power element drives at least one wheel to rotate; the leg movement mechanism comprises a first driving structure, a first supporting leg, a second driving structure and a second supporting leg, wherein one end of the first supporting leg is hinged with the trunk, and the other end of the first supporting leg is hinged with one end of the second supporting leg. The application provides a pair of four-footed wheeled robot, at the in-process of traveling, after first landing leg and second landing leg break away from ground, the gravity of truck is no longer born to shank motion, has reduced the meaningless energy consumption of shank joint, has improved the duration of a journey of robot, has also reduced the wearing and tearing to shank joint, has improved the life of robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a four-foot wheeled robot.
Background
Robots are one of the most active research fields in recent years, and may be classified into wheel type, crawler type, foot type robots, and the like according to the movement mode. Compared with wheeled and tracked robots, the legged robot has good environmental adaptability, can move in complex environments such as hollow, stone-flickering, grassland and rugged mountain lands, and can help people to complete rescue and exploration tasks in dangerous environments. The wheel type robot has the advantages of low energy consumption, long endurance and the like. In order to improve the cruising ability of a legged robot, in the prior art, a wheel type power mechanism is generally added at the foot or joint part of the legged robot, when the robot moves under the condition of flat ground, the legged robot is changed into a wheel type movement mode, the energy loss can be reduced, and the cruising ability of the robot in a complex environment can be improved. However, the application of a wheel-type power mechanism to the foot and joint area has the following disadvantages:
1. the leg inertia is easy to be large, and the motion agility of the leg is influenced;
2. after the foot type motion mode is switched to the wheel type motion mode to move, the joints of the legs still bear the gravity, so that the useless energy consumption of the joints is caused;
3. the center of gravity is higher, and is unstable, topples over easily in the motion process.
Disclosure of Invention
The invention aims to provide a four-foot wheeled robot, and aims to solve the problems that in the prior art, the four-foot wheeled robot is high in gravity center and easy to topple in the movement process.
The present invention is achieved as described above, and a four-legged wheeled robot includes: the device comprises a trunk, a wheel type movement mechanism and four leg movement mechanisms arranged on the trunk; the wheel type movement mechanism comprises a power element and at least three wheels arranged at the bottom of the trunk, the power element drives at least one wheel to rotate, and the height of the wheel is lower than that of the leg movement mechanism when the robot walks by adopting the leg movement mechanism; the leg movement mechanism comprises a first driving structure, a first supporting leg, a second driving structure and a second supporting leg, one end of the first supporting leg is hinged to the trunk, the other end of the first supporting leg is hinged to one end of the second supporting leg, the first driving structure is used for driving the first supporting leg to move, and the second driving structure is used for driving the second supporting leg to move.
Further, the power element comprises a first motor, the wheel is fixedly sleeved on the rotating shaft, and a power output shaft of the first motor is fixedly connected with the rotating shaft.
Further, the first driving structure comprises a second motor, a first eccentric wheel and a first connecting rod; the first eccentric wheel is sleeved on a power output shaft of the second motor, one end of the first connecting rod is fixedly connected with the outer side of the first eccentric wheel, and the other end of the first connecting rod is fixedly connected with the first supporting leg.
Further, the second motor is fixed to the trunk.
Further, the second driving structure comprises a third motor, a second eccentric wheel and a second connecting rod; the second eccentric wheel is sleeved on a power output shaft of the third motor, one end of the second connecting rod is fixedly connected with the outer side of the second eccentric wheel, and the other end of the second connecting rod is fixedly connected with the second supporting leg.
Further, the third motor is fixed to the first leg.
Further, the wheels are universal wheels.
According to the four-legged wheeled robot, at least two wheels of the wheeled motion mechanism are arranged at the bottom of the trunk, the four leg motion mechanisms are arranged on the trunk, meanwhile, the power element can drive the wheels to rotate, the first driving structure can drive the first leg to move, and the second driving structure can drive the second leg to move; when the robot is on the rugged ground, the first driving structure and the second driving structure respectively drive the first supporting leg and the second supporting leg to swing back and forth, so that the aim of walking by the robot by adopting the leg movement mechanism is fulfilled; when the robot is positioned on a flat ground, the first driving structure and the second driving structure respectively drive the first supporting leg and the second supporting leg to swing backwards, when the wheels swing to a certain extent, the wheels land and play a supporting role, the first supporting leg and the second supporting leg are separated from the ground, and then the wheels are driven by the power element to rotate, so that the robot can run along the ground. The height of the wheels is lower than that of the leg movement mechanism when the robot walks by adopting the leg movement mechanism, so that the center of gravity of the robot is lower when the robot runs by adopting the wheel movement mechanism than when the robot runs by adopting the leg movement mechanism, and the robot is more stable and is not easy to topple over in the movement process; meanwhile, in the running process, the first supporting leg and the second supporting leg are separated from the ground, the leg movement mechanism does not bear the gravity of the trunk any more, the meaningless energy consumption of the leg joints is reduced, the cruising ability of the robot is improved, the abrasion to the leg joints is reduced, and the service life of the robot is prolonged.
Drawings
Fig. 1 is a schematic structural diagram of a four-legged wheeled robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a four-legged wheeled robot traveling by using a wheeled movement mechanism according to an embodiment of the present invention;
fig. 3 is a side view of a four-legged wheeled robot traveling using a wheeled movement mechanism according to an embodiment of the present invention.
Reference numerals: 1-torso, 2-wheels, 3-leg movement mechanism, 31-first leg, 32-second leg.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following describes the implementation of the present invention in detail with reference to specific embodiments.
Fig. 1 shows a schematic structural diagram of a four-footed wheeled robot provided by the present invention, and referring to fig. 2 and 3, a four-footed wheeled robot provided by the present embodiment includes: the device comprises a trunk 1, a wheel type movement mechanism and four leg movement mechanisms 3 arranged on the trunk 1; the wheel type movement mechanism comprises a power element and at least two wheels 2 arranged at the bottom of the trunk 1, and the power element drives at least one wheel 2 to rotate; the leg movement mechanism 3 includes a first driving structure, a first leg 31, a second driving structure and a second leg 32, one end of the first leg 31 is hinged to the trunk 1, the other end of the first leg 31 is hinged to one end of the second leg 32, the first driving structure is used for driving the first leg 31 to move, and the second driving structure is used for driving the second leg 32 to move.
According to the four-foot wheeled robot, at least two wheels 2 of the wheeled motion mechanism are arranged at the bottom of the trunk 1, the four-leg motion mechanism 3 is arranged on the trunk 1, meanwhile, the power element can drive the wheels 2 to rotate, the first driving structure can drive the first leg 31 to move, and the second driving structure can drive the second leg 32 to move; when the robot is on the rugged ground, the first driving structure and the second driving structure respectively drive the first supporting leg 31 and the second supporting leg 32 to swing back and forth, so that the purpose that the robot walks by adopting the leg movement mechanism is achieved; when the robot is on a flat ground, the first driving structure and the second driving structure respectively drive the first supporting leg 31 and the second supporting leg 32 to swing backwards, when the robot swings to a certain extent, the wheels are grounded and play a supporting role, the first supporting leg 31 and the second supporting leg 32 are separated from the ground, and then the wheels 2 are driven by the power element to rotate, so that the robot can run along the ground. The height of the wheels 2 is lower than that of the leg movement mechanism 3 when the robot walks by adopting the leg movement mechanism 3, so that the center of gravity of the robot is lower when the robot travels by adopting the wheel movement mechanism than when the robot travels by adopting the leg movement mechanism 3, and the robot is more stable and is not easy to topple over in the movement process; meanwhile, in the driving process, the first supporting leg 31 and the second supporting leg 32 are separated from the ground, the leg movement mechanism 3 does not bear the gravity of the trunk 1 any more, the meaningless energy consumption of the leg joints is reduced, the cruising ability of the robot is improved, the abrasion to the leg joints is reduced, and the service life of the robot is prolonged.
In some embodiments, the power element includes a first motor, the wheel 2 is fixedly sleeved on the rotating shaft, and a power output shaft of the first motor is fixedly connected with the rotating shaft. When the wheels 2 touch the ground, the motor is started, the rotation of the power output shaft drives the wheels 2 to rotate, and the rotation of the wheels 2 enables the robot to walk along the road surface.
In some embodiments, the first drive structure comprises a second motor, a first eccentric, and a first connecting rod; the first eccentric wheel is sleeved on a power output shaft of the second motor, one end of the first connecting rod is fixedly connected with the outer side of the first eccentric wheel, and the other end of the first connecting rod is fixedly connected with the first supporting leg 31. The rotation of second motor can drive first eccentric wheel and rotate, and first eccentric wheel rotates and can drive the swing of first connecting rod, and first connecting rod swing can drive first leg 31 swing to the purpose of robot walking has been realized.
Preferably, the second motor is fixed to the torso 1. The second motor fixed on the trunk 1 drives the first eccentric wheel to rotate, so as to drive the first connecting rod to swing, and the first connecting rod swings to drive the first leg 31 to swing back and forth relative to the trunk 1.
In some embodiments, the second drive structure comprises a third motor, a second eccentric, and a second connecting rod; the second eccentric wheel is sleeved on a power output shaft of the third motor, one end of a second connecting rod is fixedly connected with the outer side of the second eccentric wheel, and the other end of the second connecting rod is fixedly connected with the second supporting leg 32. The rotation of the third motor can drive the second eccentric wheel to rotate, the second eccentric wheel can drive the second connecting rod to swing, and the second connecting rod can drive the second support leg 32 to swing.
Preferably, the third motor is fixed to the first leg 31. The third motor fixed on the first leg 31 drives the second eccentric wheel to rotate, so as to drive the second connecting rod to swing, and the second connecting rod swings to drive the second leg 32 to swing back and forth relative to the first leg 31.
Preferably, the wheels 2 are universal wheels, so that the robot can slide in different directions.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A four-legged wheeled robot, comprising: the device comprises a trunk, a wheel type movement mechanism and four leg movement mechanisms arranged on the trunk; the wheel type movement mechanism comprises a power element and at least three wheels arranged at the bottom of the trunk, the power element drives at least one wheel to rotate, and the height of the wheel is lower than that of the leg movement mechanism when the robot walks by adopting the leg movement mechanism; the leg movement mechanism comprises a first driving structure, a first supporting leg, a second driving structure and a second supporting leg, one end of the first supporting leg is hinged to the trunk, the other end of the first supporting leg is hinged to one end of the second supporting leg, the first driving structure is used for driving the first supporting leg to move, and the second driving structure is used for driving the second supporting leg to move.
2. The quadruped wheeled robot of claim 1, wherein the power element comprises a first motor, the wheel is fixedly sleeved on a rotating shaft, and a power output shaft of the first motor is fixedly connected with the rotating shaft.
3. The four-legged wheeled robot of claim 1, wherein the first drive structure includes a second motor, a first eccentric, and a first connecting rod; the first eccentric wheel is sleeved on a power output shaft of the second motor, one end of the first connecting rod is fixedly connected with the outer side of the first eccentric wheel, and the other end of the first connecting rod is fixedly connected with the first supporting leg.
4. A four-footed wheeled robot as claimed in claim 3 wherein the second motor is fixed to the torso.
5. The four-legged wheeled robot of claim 3, wherein the second drive structure includes a third motor, a second eccentric, and a second connecting rod; the second eccentric wheel is sleeved on a power output shaft of the third motor, one end of the second connecting rod is fixedly connected with the outer side of the second eccentric wheel, and the other end of the second connecting rod is fixedly connected with the second supporting leg.
6. The quadruped wheeled robot of claim 5, wherein the third motor is fixed to the first leg.
7. A four-legged wheeled robot according to claim 1, wherein said wheels are universal wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911095012.6A CN110789632A (en) | 2019-11-11 | 2019-11-11 | Four-foot wheeled robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911095012.6A CN110789632A (en) | 2019-11-11 | 2019-11-11 | Four-foot wheeled robot |
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| Publication Number | Publication Date |
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| CN110789632A true CN110789632A (en) | 2020-02-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911095012.6A Pending CN110789632A (en) | 2019-11-11 | 2019-11-11 | Four-foot wheeled robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112758210A (en) * | 2021-01-18 | 2021-05-07 | 杭州太希智能科技有限公司 | Multifunctional quadruped robot |
| CN114852209A (en) * | 2022-04-18 | 2022-08-05 | 山东大学 | Wheel-leg combined hexapod robot with sliding function and control method thereof |
-
2019
- 2019-11-11 CN CN201911095012.6A patent/CN110789632A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112758210A (en) * | 2021-01-18 | 2021-05-07 | 杭州太希智能科技有限公司 | Multifunctional quadruped robot |
| CN114852209A (en) * | 2022-04-18 | 2022-08-05 | 山东大学 | Wheel-leg combined hexapod robot with sliding function and control method thereof |
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Effective date of registration: 20210201 Address after: 518000 b5101, building 12, shenzhenwan science and technology ecological park, No.18, South Keji Road, high tech community, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Pengxing intelligent Co.,Ltd. Address before: 518000 No.6, 9057-11, xinwuyuan 1st lane, Gushu community, Xixiang street, Bao'an District, Shenzhen City, Guangdong Province Applicant before: Shenzhen Zhiqin New Technology Co.,Ltd. |
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Effective date of registration: 20210715 Address after: 510000 b5101, building 12, Shenzhen Bay science and technology ecological park, No.18, South Keji Road, high tech community, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Applicant after: Guangdong Pengxing intelligent Co.,Ltd. Address before: 518000 b5101, building 12, shenzhenwan science and technology ecological park, No.18, South Keji Road, high tech community, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Applicant before: Shenzhen Pengxing intelligent Co.,Ltd. |
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