CN112172956A - Four-wheel quadruped robot chassis - Google Patents
Four-wheel quadruped robot chassis Download PDFInfo
- Publication number
- CN112172956A CN112172956A CN202011080745.5A CN202011080745A CN112172956A CN 112172956 A CN112172956 A CN 112172956A CN 202011080745 A CN202011080745 A CN 202011080745A CN 112172956 A CN112172956 A CN 112172956A
- Authority
- CN
- China
- Prior art keywords
- driving device
- climbing mechanism
- wheel
- base
- drive arrangement
- Prior art date
- 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.)
- Pending
Links
Images
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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
-
- 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
Abstract
The invention relates to a four-wheel quadruped robot chassis which comprises a base, a wheel type mechanism, a first climbing mechanism, a second climbing mechanism, a first driving device, a second driving device, a third driving device, a first connecting shaft and a second connecting shaft, wherein the wheel type mechanism, the first driving device, the second driving device and the third driving device are respectively arranged on the base, the first driving device is used for driving the wheel type mechanism to operate, the first climbing mechanism is arranged on the base through the first connecting shaft, and the second climbing mechanism is arranged on the base through the second connecting shaft. When the obstacle crossing is needed, the wheel type mechanism and the climbing mechanism run in a matched mode, when the wheel type mechanism touches an obstacle, the driving device drives the connecting shaft to rotate so as to drive the climbing mechanism to grab the obstacle, the wheel type mechanism is naturally lifted up and crosses the obstacle, and the climbing mechanism continues to move forwards; when walking on the flat ground, the control climbing mechanism is naturally folded, and can do omnidirectional movement.
Description
Technical Field
The invention relates to the field of robots, in particular to a four-wheel quadruped robot chassis.
Background
In the prior art, a robot chassis is generally divided into a wheel type chassis and a crawler type chassis, the crawler type robot chassis is mainly applied to a special robot body, is suitable for fields, urban environments and the like, can move on various complex ground such as sand, mud and the like, but has relatively low speed and large dead weight, and for climbing stairs and crossing obstacles, a crawler of a crawler type stair climbing device is long and is not suitable for being used in places with too smooth or narrow stairs, and the crawler type stair climbing device is extremely large in abrasion and is not suitable for being used for a long time. The wheel type robot chassis is mainly applied to a service robot, most of the service robots, such as a food delivery robot in a restaurant, a shopping guide robot in a shopping mall and the like, adopt a wheel type robot chassis structure, but the chassis can not realize the functions of climbing stairs, crossing obstacles, transverse displacement and the like.
Disclosure of Invention
The invention aims to provide a four-wheel quadruped robot chassis, which is used for solving the problem of poor obstacle crossing capability of the wheel type robot chassis.
In order to solve the problems, the invention adopts the following technical scheme:
the utility model provides a four-wheel quadruped robot chassis, which comprises a base, wheeled mechanism, first climbing mechanism, the second climbing mechanism, first drive arrangement, second drive arrangement, third drive arrangement, first connecting axle and second connecting axle, wheeled mechanism, first drive arrangement, second drive arrangement and third drive arrangement set up respectively on the base, first drive arrangement is used for driving wheeled mechanism operation, first climbing mechanism sets up on the base through first connecting axle, second drive arrangement is used for driving first connecting axle rotation in order to drive first climbing mechanism, second climbing mechanism passes through the second connecting axle setting on the base, third drive arrangement is used for driving the second connecting axle rotation in order to drive second climbing mechanism.
The invention has the beneficial effects that:
according to the invention, through the cooperative work of the wheel type mechanism and the climbing mechanism, when obstacles need to be crossed, the wheel type mechanism and the climbing mechanism run in a matched manner, and when the wheel type mechanism touches the obstacles, the driving device drives the connecting shaft to rotate so as to drive the climbing mechanism to scrape the obstacles, so that the wheel type mechanism is naturally lifted up, crosses the obstacles and continues to move forwards; when the robot walks on the flat ground, the climbing mechanism is controlled to be naturally folded, the robot can move in all directions, the self weight is effectively reduced, the obstacle crossing is flexible, and the problem that the chassis of the wheeled robot is poor in obstacle crossing capability is solved.
Furthermore, the first climbing mechanism is a pair of hard support structures symmetrically arranged on two sides of the midpoint of the first connecting shaft, the second climbing mechanism is a pair of hard support structures symmetrically arranged on two sides of the midpoint of the second connecting shaft, and a pulley for reducing the friction force between the hard support structures and the wall or the ground or a hook or a claw for increasing the friction force between the hard support structures and the wall or the ground are arranged at the end part of each hard support structure. The equipment can be adjusted according to different working conditions, and the adaptability of the four-wheel quadruped robot chassis to different working conditions is improved.
Furthermore, the material of the hard supporting structure is metal or hard rubber products. Can be adjusted according to different working conditions so as to adjust the supporting force of the hard supporting structure and the weight of the chassis of the four-wheel quadruped robot.
Furthermore, the wheel type mechanism is provided with four wheels, and the first driving device is provided with four motors which are arranged on the base and respectively drive the four wheels.
Further, the second driving device and the third driving device are motors respectively.
Drawings
Fig. 1 is a schematic view of a chassis of a four-wheel quadruped robot according to an embodiment of the present invention.
Detailed Description
The invention provides a four-wheel quadruped robot chassis which comprises a base, a wheel type mechanism, a first climbing mechanism, a second climbing mechanism, a first driving device, a second driving device, a third driving device, a first connecting shaft and a second connecting shaft.
The first climbing mechanism is a pair of hard support structures symmetrically arranged on two sides of the midpoint of the first connecting shaft, the second climbing mechanism is a pair of hard support structures symmetrically arranged on two sides of the midpoint of the second connecting shaft, and the end part of each hard support structure is provided with a pulley for reducing the friction force between the hard support structure and the wall or the ground or a hook or a claw for increasing the friction force between the hard support structure and the wall or the ground.
The hard supporting structure is made of metal or hard rubber products.
The wheel type mechanism is provided with four wheels, and the first driving device is provided with four motors which are arranged on the base and respectively drive the four wheels.
The second driving device and the third driving device are motors respectively.
As shown in fig. 1, the base 100 is formed by riveting 3 metal square rods and 4 metal sheets, the wheel mechanism is formed by riveting 4 wheels on two sides of the base 100, the first driving device is formed by 4 motors, and the first driving device is mounted in the manner shown in fig. 1, wherein the motor 501 drives the wheel 201, the motor 502 drives the wheel 202, the motor 503 drives the wheel 203, and the motor 504 drives the wheel 204. The first climbing mechanism is a hard support structure 301 and a hard support structure 302, the hard support structure 301 and the hard support structure 302 are symmetrically arranged on two sides of the center line of the base 100 through a first connecting shaft 800, the second climbing mechanism is a hard support structure 401 and a hard support structure 402, and the hard support structure 401 and the hard support structure 402 are symmetrically arranged on two sides of the center line of the base 100 through a second connecting shaft 900. The second driving device 600 is arranged on the base 100 at a position close to the motor 501, and the second driving device 600 drives the first connecting shaft 800 to rotate so as to drive the hard support structure 301 and the hard support structure 302 to rotate; a third driving device 700 is disposed on the base 100 at a position close to the motor 503, and the third driving device 700 drives the second connecting shaft 900 to rotate so as to drive the hard support structure 401 and the hard support structure 402 to rotate.
When the four-wheel four-footed robot chassis is in operation, the first driving device drives the wheel type mechanism, the four-wheel four-footed robot chassis moves forwards, when the wheel 201 or the wheel 202 touches an obstacle, the second driving device 600 drives the first connecting shaft 800 to rotate at the moment, the hard supporting structure 301 and/or the hard supporting structure 302 rotate along with the first connecting shaft to scrape the obstacle, the hard supporting structure 301 and/or the hard supporting structure 302 provide an upward force for the four-wheel four-footed robot chassis to lift the wheel 201 and/or the wheel 202, and after the wheel 201 and/or the wheel 202 are lifted, the motor 503 and the motor 504 drive the wheel 203 and the wheel 204 to move forwards to complete obstacle crossing.
When the wheel 203 or the wheel 204 hits an obstacle, the situation is similar to the above, and the description is omitted.
When the four-wheeled quadruped robot chassis performs the task of climbing stairs, the hard support structure 301, the hard support structure 302, the hard support structure 401 and the hard support structure 402 are driven to rotate by respective driving devices. For example, after wheels 201 and 202 are supported by rigid support structures 301 and 302 to be lifted up by a step, rigid support structures 401 and 402 support the rear half of the chassis of the four-wheeled quadruped robot, i.e. wheels 203 and 204, to be lifted up to climb the stairs continuously until wheels 201 and 202 reach the top of the stairs.
As shown in fig. 1, the rigid support structure is an S-shaped structure in this embodiment, typically made of metal or hard rubber, with pulleys at the ends. The length of the robot can be adjusted according to different working conditions so as to adjust the obstacle crossing performance of the chassis of the four-wheel four-foot robot. As other embodiments, the rigid support structure may also be an anthropomorphic, biomimetic hand shape.
In the above embodiments, the end of the rigid support structure is a pulley, and may be configured as a hook or claw to increase the friction with the ground or wall surface or the surface of an obstacle.
In the above-mentioned embodiment, first climbing mechanism and second climbing mechanism all select two stereoplasm bearing structure, as other embodiments, also can be as an organic whole with two stereoplasm bearing structure integrations, rotate around first connecting axle and second connecting axle respectively to reach and hook or take off the effect of holding up barrier or stair.
In the above embodiment, the wheel mechanism employs four wheels. As other embodiments, a wheel type mechanism may be provided by adopting a scheme of six wheels or eight wheels, and the like, and a connecting shaft and/or a motor may be correspondingly added, so that the mode of direct drive and/or indirect drive of the motor may be configured.
In the above embodiment, the first connecting shaft and the second connecting shaft are integrally provided. In other embodiments, the first connecting shaft and the second connecting shaft can be arranged in a split manner, and the position near the midpoint of the first connecting shaft and the second connecting shaft can be connected through a differential mechanism so as to adjust the rotating speed of the corresponding pair of hard supporting structures, realize the differential operation of the two hard supporting structures and increase the obstacle crossing flexibility.
The above-mentioned embodiments are merely illustrative of the technical solutions of the present invention in a specific embodiment, and any equivalent substitutions and modifications or partial substitutions of the present invention without departing from the spirit and scope of the present invention should be covered by the claims of the present invention.
Claims (5)
1. A four-wheel quadruped robot chassis is characterized in that: including base, wheeled mechanism, first climbing mechanism, second climbing mechanism, first drive arrangement, second drive arrangement, third drive arrangement, first connecting axle and second connecting axle, wheeled mechanism first drive arrangement second drive arrangement with third drive arrangement sets up respectively on the base, first drive arrangement is used for driving wheeled mechanism moves, first climbing mechanism passes through first connecting axle sets up on the base, second drive arrangement is used for driving first connecting axle is rotatory in order to drive first climbing mechanism, second climbing mechanism passes through the second connecting axle sets up on the base, third drive arrangement is used for driving the second connecting axle is rotatory in order to drive second climbing mechanism.
2. The chassis of the four-wheeled quadruped robot of claim 1, wherein: first climbing mechanism sets up for the symmetry a pair of stereoplasm bearing structure of first connecting axle midpoint both sides, second climbing mechanism sets up for the symmetry a pair of stereoplasm bearing structure of second connecting axle midpoint both sides, every stereoplasm bearing structure's tip is provided with and is used for reducing the pulley of the frictional force of stereoplasm bearing structure and wall or ground or be used for the increase the hook or the claw of the frictional force of stereoplasm bearing structure and wall or ground.
3. The chassis of the four-wheeled quadruped robot of claim 2, wherein: the hard supporting structure is made of metal or hard rubber products.
4. The chassis of the four-wheeled quadruped robot of claim 3, wherein: the wheeled mechanism is four wheels, and the first driving device is four motors which are arranged on the base and respectively drive the four wheels.
5. The chassis of the four-wheeled quadruped robot of claim 4, wherein: the second driving device and the third driving device are motors respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011080745.5A CN112172956A (en) | 2020-10-13 | 2020-10-13 | Four-wheel quadruped robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011080745.5A CN112172956A (en) | 2020-10-13 | 2020-10-13 | Four-wheel quadruped robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112172956A true CN112172956A (en) | 2021-01-05 |
Family
ID=73949098
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011080745.5A Pending CN112172956A (en) | 2020-10-13 | 2020-10-13 | Four-wheel quadruped robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112172956A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112998967A (en) * | 2021-02-22 | 2021-06-22 | 杭州师范大学钱江学院 | Rescue vehicle with complex terrain passing capability and driving method thereof |
| CN114802519A (en) * | 2022-05-25 | 2022-07-29 | 西南科技大学 | Robot with wheel leg structure and control method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103091579A (en) * | 2013-01-11 | 2013-05-08 | 山东鲁能智能技术有限公司 | Insulator chain intelligent detection robotic system |
| US20140238755A1 (en) * | 2013-02-27 | 2014-08-28 | National Taiwan University | Omni-directional terrain crossing mechanism |
| WO2014157863A1 (en) * | 2013-03-29 | 2014-10-02 | Kim Joon Hyung | Travelling device capable of climbing over stairs |
| CN106828647A (en) * | 2017-03-29 | 2017-06-13 | 西南大学 | Combination driving method is driven in a kind of timesharing point |
| CN110179600A (en) * | 2019-05-09 | 2019-08-30 | 哈工大机器人（合肥）国际创新研究院 | One kind climbing building and barrier-surpassing robot and its control method |
| US20190367112A1 (en) * | 2018-06-01 | 2019-12-05 | Joon-Hyung Kim | Stair-climbing type driving device and climbing driving method |
-
2020
- 2020-10-13 CN CN202011080745.5A patent/CN112172956A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103091579A (en) * | 2013-01-11 | 2013-05-08 | 山东鲁能智能技术有限公司 | Insulator chain intelligent detection robotic system |
| US20140238755A1 (en) * | 2013-02-27 | 2014-08-28 | National Taiwan University | Omni-directional terrain crossing mechanism |
| WO2014157863A1 (en) * | 2013-03-29 | 2014-10-02 | Kim Joon Hyung | Travelling device capable of climbing over stairs |
| CN106828647A (en) * | 2017-03-29 | 2017-06-13 | 西南大学 | Combination driving method is driven in a kind of timesharing point |
| US20190367112A1 (en) * | 2018-06-01 | 2019-12-05 | Joon-Hyung Kim | Stair-climbing type driving device and climbing driving method |
| CN110179600A (en) * | 2019-05-09 | 2019-08-30 | 哈工大机器人（合肥）国际创新研究院 | One kind climbing building and barrier-surpassing robot and its control method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112998967A (en) * | 2021-02-22 | 2021-06-22 | 杭州师范大学钱江学院 | Rescue vehicle with complex terrain passing capability and driving method thereof |
| CN112998967B (en) * | 2021-02-22 | 2022-08-16 | 杭州师范大学钱江学院 | Rescue vehicle with complex terrain passing capability and driving method thereof |
| CN114802519A (en) * | 2022-05-25 | 2022-07-29 | 西南科技大学 | Robot with wheel leg structure and control method thereof |
| CN114802519B (en) * | 2022-05-25 | 2023-07-11 | 西南科技大学 | Robot with wheel leg structure and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101890986B (en) | Deformable all-terrain adaptable robot walking mechanism | |
| CN103273985B (en) | Quadruped stair climbing robot mechanism | |
| CN112172956A (en) | Four-wheel quadruped robot chassis | |
| CN201760877U (en) | Deformable robot travelling mechanism suitable for all landforms | |
| CN210734339U (en) | Wall-climbing robot | |
| CN105383586A (en) | Composite mobile robot with wheel-track legs | |
| CN102107688B (en) | Dual-leg travelling mechanism with adjustable joint length | |
| CN109866552B (en) | Wheel foot deformation type robot walking mechanism | |
| CN101428655B (en) | Wheeled mobile device for foot for humanoid robot, polypodia walking vehicle | |
| CN209454890U (en) | A kind of wheeled creeping-type free switching hexapod robot | |
| CN201951576U (en) | Wheel leg combined type walking and climbing mechanism | |
| CN103723207A (en) | Biped adsorption type wall-climbing robot | |
| CN112373594A (en) | Wheel-leg hybrid drive type mining metamorphic robot | |
| CN113086051A (en) | Suspension device, chassis with same and robot | |
| CN210258625U (en) | Obstacle crossing mechanism, wheel type chassis assembly thereof and inspection robot | |
| CN109334793B (en) | Wheel-track alternating all-terrain vehicle | |
| CN101823484A (en) | Concealed air cushion vehicle | |
| CN102114876B (en) | Wheel-tracked obstacle crossing mechanism | |
| CN212828739U (en) | Wheel-track composite trolley | |
| CN107310648B (en) | Deformation robot capable of realizing wheel and track replacement | |
| CN210566982U (en) | Multi-joint omnidirectional movement pipeline robot | |
| CN201566714U (en) | Caterpillar obstacle-surmounting mechanism | |
| CN203876863U (en) | Power shopping cart | |
| CN108163076B (en) | Water delivery robot | |
| CN215245183U (en) | Caterpillar chassis posture adjusting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210105 |
|
| WD01 | Invention patent application deemed withdrawn after publication |