CN112519916B - Wheel-foot hybrid robot - Google Patents
Wheel-foot hybrid robot Download PDFInfo
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- CN112519916B CN112519916B CN202011593525.2A CN202011593525A CN112519916B CN 112519916 B CN112519916 B CN 112519916B CN 202011593525 A CN202011593525 A CN 202011593525A CN 112519916 B CN112519916 B CN 112519916B
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- 210000002414 leg Anatomy 0.000 claims description 103
- 210000000689 upper leg Anatomy 0.000 claims description 48
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000002787 reinforcement Effects 0.000 claims description 8
- 238000012546 transfer Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 23
- 230000007246 mechanism Effects 0.000 description 11
- 230000003014 reinforcing effect Effects 0.000 description 10
- 210000001364 upper extremity Anatomy 0.000 description 10
- 244000309466 calf Species 0.000 description 6
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides a wheel-foot hybrid robot. A wheel-foot hybrid robot comprises a body, a first leg module and a second leg module; the first leg module includes a foot and a support wheel; the second leg module includes a steering motor, a first drive wheel and a second drive wheel, the leg module having two modes of operation: foot mode and wheel mode; in the wheel mode, the supporting wheel assists to support the machine body, the first driving wheel and the second driving wheel drive a wheel-foot hybrid robot to move together, and the steering of the wheel-foot hybrid robot is realized through the steering of the steering motor; in the foot mode, the second leg modules and the supporting wheels are suspended, and feet of the first leg modules alternately touch the ground to drive a wheel-foot hybrid robot to move. Compared with the prior art, the position transfer efficiency of the invention is greatly improved. In addition, when the robot is in the foot mode, the rapid steering of the wheel-foot hybrid robot can be realized.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a wheel-foot hybrid robot.
Background
In the research field of four-legged robots, a wheel-legged hybrid robot is a hotspot for research in the field. When the foot-type movement mode of the wheel-foot hybrid robot is switched to the wheel-type movement mode, the steering and driving of the wheel-type movement mode always have difficulty, and a steering mode of a hip-joint abduction adduction kinematic pair is commonly adopted, but the steering mode can cause the height difference of four legs of the wheel-foot hybrid robot, so that the trunk is inclined, and the functions of other functional components (such as a detection device and a mechanical arm) on the robot are influenced. The steering angle of the steering mode is limited, and the steering mode cannot meet the working requirements of small terrains and large steering angles.
The invention patent with the authority notice number of CN105667622B and the authority notice day of 2016 (01 month 14) discloses a six-wheel foot type mobile robot with three sections of organisms, wherein three steering modes of the robot in a wheel type movement mode are respectively realized by one-speed and differential steering, the wheel speeds of six legs are respectively controlled to realize differential steering, the wheel speeds of the left front leg, the left middle leg and the left rear leg are slow, the wheel speeds of the right front leg, the right middle leg and the right rear leg are fast, and the left movement of the robot can be realized; the left front leg, the left middle leg and the left rear leg are high in wheel rotation speed, the right front leg, the right middle leg and the right rear leg are low in wheel rotation speed, and the right movement of the robot can be realized.
2. The front wheel steering can be realized by controlling the directions of the left front leg and the right front leg in a coordinated manner, the joints of the left front leg and the right front leg simultaneously rotate leftwards to realize the left turning motion of the robot, and the joints of the left front leg and the right front leg simultaneously rotate rightwards to realize the right turning motion of the robot.
3. In-situ steering can be realized by coordinating and controlling the directions of the six legs, so that the wheels at the lower ends of the six legs are distributed on the circumference of the same circle, and the directions of the wheels are tangential to the circle.
Although the steering under small terrain and large steering angle can be realized, the parts are more, redundant constraint exists among mechanisms, the resolvability is poor, the coupling exists, and the movable range is limited.
Accordingly, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
The invention aims to provide a wheel-foot hybrid robot, which solves the problems of more parts, redundancy constraint among mechanisms, poor resolvability, coupling and limited moving range of the wheel-foot hybrid robot in the prior art.
In order to achieve the above object, the present invention provides the following technical solutions: a wheel-foot hybrid robot comprising:
A body;
the leg module is arranged on the robot body and used for driving the foot hybrid robot to move, and comprises a first leg module and a second leg module;
The first leg modules are wheel-foot type leg modules, the number of the wheel-foot type leg modules is four, the four first leg modules are respectively arranged on the left side and the right side of the machine body, the first leg modules on the same side are arranged along the front-back direction of the machine body, and each first leg module respectively comprises a foot part and a supporting wheel;
The second leg module comprises a steering motor, a frame, a first motor, a second motor, a first driving wheel and a second driving wheel, wherein the steering motor is fixed on the machine body, the axis of the output end of the steering motor extends along the vertical direction, and the frame is connected with the output end of the steering motor and can rotate around the axis of the output end of the steering motor when the steering motor is driven;
the first driving wheel and the second driving wheel are both rotatably mounted on the frame, the first motor and the second motor are both fixedly mounted on the frame, the first motor is used for driving the first driving wheel to rotate, and the second motor is used for driving the second driving wheel to rotate;
the leg module has two modes of operation: foot mode and wheel mode;
When the leg module is in a wheel mode, the supporting wheel is used for supporting the machine body in an auxiliary mode, the foot of the first leg module is suspended, and the first driving wheel and the second driving wheel are driven by the first motor and the second motor to rotate and drive the wheel-foot hybrid robot to move; the frame can adjust the direction under the drive of the steering motor so as to adjust the moving direction of the wheel-foot hybrid robot;
When the robot is in a foot mode, the second leg modules and the supporting wheels are suspended, and feet of the first leg modules alternately touch the ground to drive the wheel-foot hybrid robot to move.
Further, the centroid of the second leg module is vertically collinear with the centroid of the fuselage.
Further, the frame includes a U-shaped member comprising: two side plates arranged oppositely, and a bottom plate connecting the two side plates;
The bottom plate is connected with the output end of the steering motor, and the first driving wheel and the second driving wheel are respectively and rotatably arranged on the side plate.
Further, the first driving wheel and the second driving wheel are respectively rotatably arranged at the outer sides of the corresponding side plates.
Further, the first motor and the second motor are both fixedly arranged on the inner side of the side plate.
Further, the rack further comprises a reinforcement, and two ends of the reinforcement are respectively fixed on the bottom plate and one of the side plates; or the two ends of the reinforcement are respectively fixed on the two side plates.
Further, the reinforcement is a reinforcing plate, and when two ends of the reinforcing plate are respectively fixed on the two side plates, the reinforcing plate is parallel to the bottom plate.
Further, the wheel-foot hybrid robot further comprises an abduction motor, wherein the abduction motor is fixed on the machine body, and the output end of the abduction motor is connected with the first leg module so as to drive the first leg module to swing around the axis of the output end of the abduction motor in the left-right direction of the machine body;
the first leg module further comprises a thigh driving motor, a shank driving motor, a hinge shaft, a thigh and a shank;
the lower end of the thigh is hinged with the upper end of the shank through the hinge shaft, and the foot is arranged at the lower end of the shank;
The thigh driving motor is fixed at the output end of the abduction motor, and the upper end part of the thigh is arranged at the output end of the thigh driving motor;
The shank driving motor is used for driving the shank to swing around the hinge shaft.
Further, a driven wheel is fixed on the lower leg, a driving wheel is arranged at the output end of the lower leg driving motor, a transmission belt is arranged between the driving wheel and the driven wheel, the lower leg driving motor transmits power to the driven wheel through the driving wheel and the transmission belt, and the driven wheel drives the lower leg to swing around the hinge shaft.
Further, the thigh driving motor is a frameless motor, the shank driving motor is arranged in an inner cavity of the frameless motor, and an output shaft of the shank driving motor extends out of the frameless motor.
Compared with the closest prior art, the technical scheme provided by the invention has at least the following beneficial effects:
1) In the technical scheme provided by the application, the leg module is provided with two modes, namely a wheel mode and a foot mode, and can rapidly move in a flat plane when in the wheel mode. When in the foot mode, the device can be suitable for rugged road surfaces and can quickly avoid obstacles. Compared with the prior art, the position transfer efficiency of the wheel-foot hybrid robot is greatly improved, and the working radius of the wheel-foot hybrid robot is ensured. In addition, when the wheel is in the wheel mode, the wheel-foot hybrid robot can be quickly steered through the steering motor, so that the wheel-foot hybrid robot can be suitable for a narrow working environment, and the working condition range suitable for the wheel-foot hybrid robot is increased.
2) The position of the first leg module can be adjusted through the arrangement of the abduction motor, and the abduction motor is further suitable for various terrains.
3) The first leg module is composed of thighs and calves, the different swings of the thighs and the calves form the movement of the legs, power compensation during leg movement is achieved, and output torque of the thighs driving motor and the calves driving motor is effectively reduced.
4) The shank driving motor drives the shank to swing through the belt transmission mechanism, so that the technology is mature and the weight is light.
5) The lower leg driving motor is arranged in the thigh driving motor, so that the mechanism redundancy of the first leg module is effectively reduced, the motion inertia of the first leg module during motion is reduced, the motion of the robot is more stable, and the control precision of the robot is improved.
6) The driven wheel is sleeved on the hinge shaft, and the driven wheel effectively utilizes the structure of the hinge shaft when in arrangement, so that the structure is simple, and the weight is lighter.
7) The thigh adopts the form that two structural plates pass through the connecting piece and connect, has both guaranteed the structural strength of thigh, has alleviateed the weight of thigh again.
8) The supporting wheel is sleeved on the hinge shaft, and the supporting wheel effectively utilizes the structure of the hinge shaft when in setting, so that the structure is simple, and the weight is lighter.
9) When the wheel-foot hybrid robot moves, the mass center of the second leg module can be collinear with the mass center of the body in the vertical direction, and the problems that the movement of the robot is unstable and the control precision of the robot is reduced due to the fact that the mass center of the robot is inclined when the leg module is in a foot mode can be avoided.
10 The upper end part of the lower leg is of a U-shaped structure, and the structural strength of the lower leg is improved on the premise of being connected with the hinge shaft.
Drawings
FIG. 1 is a three-dimensional view of an embodiment of a wheel-foot hybrid robot of the present invention;
FIG. 2 is another three-dimensional view of an embodiment of a wheel-foot hybrid robot of the present invention;
FIG. 3 is a front view of an embodiment of a wheel-foot hybrid robot of the present invention with a leg module in foot mode;
FIG. 4 is a front view of an embodiment of a wheel-foot hybrid robot of the present invention with a leg module in a wheel mode;
Fig. 5 is a schematic structural view of a abduction joint and a first leg module of an embodiment of a wheel-foot hybrid robot according to the present invention.
In the figure: 1. a body; 2. a abduction motor; 3. thigh drive motor; 4. a lower leg driving motor; 41. a shank driving motor output shaft; 5. thigh; 51. a structural panel; 52. a connecting piece; 6. a lower leg; 61. a U-shaped structure; 62. a connecting rod; 7. a foot; 8. a driving wheel; 9. a transmission belt; 10. driven wheel; 11. a hinge shaft; 12. a support wheel; 13. a frame; 131. a U-shaped member; 132. a reinforcing plate; 14. a first drive wheel; 15. a second drive wheel; 16. a first motor; 17. a second motor; 18. a steering motor; 181. and the output end of the steering motor.
Detailed Description
The application will be described in detail below with reference to the drawings in connection with embodiments. The examples are provided by way of explanation of the application and not limitation of the application. Indeed, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For example, features illustrated or described as part of one embodiment can be used on another embodiment to yield still a further embodiment. Accordingly, it is intended that the present application encompass such modifications and variations as fall within the scope of the appended claims and their equivalents.
In the description of the present application, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. refer to the orientation or positional relationship based on that shown in the drawings, merely for convenience of description of the present application and do not require that the present application must be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. The terms "coupled," "connected," and "configured" as used herein are to be construed broadly and may be, for example, fixedly connected or detachably connected; can be directly connected or indirectly connected through an intermediate component; either a wired electrical connection, a radio connection or a wireless communication signal connection, the specific meaning of which terms will be understood by those of ordinary skill in the art as the case may be.
The application relates to a specific embodiment of a wheel-foot hybrid robot, which comprises the following components: in the embodiment of the application, the movement direction of the robot is defined as the forward and backward direction of the robot, the trunk of the robot extends along the forward and backward direction, and the direction vertical to the forward and backward direction in the horizontal plane is defined as the left and right direction of the robot.
As shown in fig. 1 and 2, a wheel-foot hybrid robot includes a body 1, a abduction motor 2, and a leg module. The leg modules are arranged on the machine body 1 and are used for driving the foot hybrid robot to move, and the leg modules comprise a first leg module and a second leg module.
The first leg modules are wheel foot type leg modules, the number of the first leg modules is four, the first leg modules are symmetrically arranged on the left side and the right side of the machine body 1 in two groups, and the first leg modules on the same side are distributed along the front-back direction of the machine body. One of them is described as an example: the first leg module is fixed to the fuselage 1 by means of a abduction motor 2, in particular: the abduction motor 2 is correspondingly fixed at the front or the rear of the machine body 1, and the axis of the abduction motor 2 is along the front-back direction, and the first leg module is arranged at the output end of the abduction motor 2.
The first leg module comprises a thigh driving motor 3, a shank driving motor 4, a hinge shaft 11, a thigh 5, a supporting wheel 12, a shank 6 and a foot 7, wherein the thigh driving motor 3 is fixed at the output end of the abduction motor 2, the upper end part of the thigh 5 is arranged at the output end of the thigh driving motor 3, the lower end part of the thigh 5 is hinged with the upper end part of the shank 6 through the hinge shaft 11, and the foot 7 is arranged at the lower end part of the shank 6. The supporting wheel 12 is sleeved on the hinge shaft 11 and is positioned outside the lower leg 6. The thigh 5 comprises a structural plate 51 and a connecting piece 52, the structural plate 51 having two pieces and being parallel to each other. The connecting member 52 connects the two structural plates 51. The shape of the structural plate 51 may be adapted according to the leg design of the wheel-foot hybrid robot, for example, the structural plate 51 may be kidney-shaped, rectangular, etc. The both ends of structural slab 51 all are equipped with the mounting hole, and the mounting hole of one end and shank driving motor output shaft 41 looks adaptation, supplies shank driving motor output shaft 41 to pass, and the mounting hole of the other end and articulated shaft 11 looks adaptation supplies articulated shaft 11 to pass. Wherein the support wheel 12 is arranged outside the thigh 5 and the driven wheel 10 is arranged in the thigh 5 (between two structural plates 51).
As shown in fig. 5, the thigh drive motor 3 is a frameless motor, the shank drive motor 4 is disposed in an internal cavity of the thigh drive motor 3, and the shank drive motor output shaft 41 protrudes from an axial gap in the middle of an output end of the thigh drive motor 3, and axes of the thigh drive motor 3 and the shank drive motor 4 are both in the left-right direction. The arrangement can maximize the utilization space, so that the mechanism is more compact; meanwhile, the frameless motor has no shell, so that the weight of the whole machine is effectively reduced. The shank driving motor 4 is arranged in the thigh driving motor 3, two motors are all arranged at the top of the first leg module, the mechanism redundancy of the first leg module is effectively reduced, the motion inertia of the first leg module in a foot mode is reduced, the motion of a robot is more stable, and the control precision of the robot is improved. At the same time, the output torque of the thigh driving motor 3 can be used for swinging the thigh 5 and the shank 6 more, and the efficiency of the thigh driving motor 3 can be improved.
The shank driving motor 4 is used for driving the shank 6 to swing around the hinge shaft 11, specifically: the lower leg 6 is fixed with a driven wheel 10, and the driven wheel 10 is sleeved on a hinge shaft 11. The output end 41 of the lower leg driving motor is provided with a driving wheel 8, a transmission belt 9 is arranged between the driving wheel 8 and a driven wheel 10, the driving wheel 8, the driven wheel 10 and the transmission belt 9 form a belt transmission mechanism, and the lower leg driving motor 4 drives the lower leg 6 to swing around a hinge shaft 11 through the belt transmission mechanism.
The second leg module is arranged directly below the fuselage 1, the centroid of the second leg module being collinear with the centroid of the fuselage 1 in the vertical direction. The second leg module comprises a steering motor 18, a first driving wheel 14, a second driving wheel 15, a first motor 16, a second motor 17 and a frame 13, wherein the steering motor 18 is fixed on the machine body 1, the axis is vertical, and the frame 13 is connected to a steering motor output shaft 181 of the steering motor 18 and can follow the adjustment direction of the steering motor output shaft 181. The main body of the frame 13 is a U-shaped piece 131, and the U-shaped piece 131 comprises: two side plates arranged oppositely, and a bottom plate connecting the two side plates. The bottom plate is installed on steering motor output shaft 181, and first drive wheel 14 and second drive wheel 15 are located respectively on two places curb plates of U-shaped spare, and the axis is all along controlling the direction and collinearly, and first drive wheel 14 and second drive wheel 15 all set up the outside at corresponding curb plate. The first driving wheel 14 is driven by a first motor 16, the second driving wheel 15 is driven by a second motor 17, and the first motor 16 and the second motor 17 are respectively and correspondingly arranged on the two side plates and are positioned on the inner sides of the corresponding side plates.
The frame 13 further comprises a reinforcing plate 132 arranged on the U-shaped piece 131, the reinforcing plate 132 forms a reinforcing member, two ends of the reinforcing plate 132 are fixedly connected with two side plates of the U-shaped piece 131 respectively, and the reinforcing plate 132 is parallel to the bottom plate. In other embodiments, two reinforcing plates may be provided, and a side plate and a bottom plate are respectively connected to form a triangular stable structure.
The upper end of the shank 6 is a U-shaped structure 61, and hinge shaft mounting holes are coaxially arranged on two side plates of the U-shaped structure 61, and the hinge shaft 11 is arranged in the hinge shaft mounting holes. The bottom of the U-shaped structure 61 is provided with a cylindrical connecting rod 62, one end of the connecting rod 62 is connected with the U-shaped structure 61, and the other end is connected with the foot 7. The structural form of the foot 7 may be adapted according to the working conditions. For example, the foot 7 is spherical and made of an elastic material (such as rubber, etc.), thereby effectively improving the adaptability of the foot 7, reducing the vibration of the wheel-foot hybrid robot in the foot mode, etc.
The leg module has two modes of operation: foot mode and wheel mode:
As shown in fig. 3, when the leg modules are in foot mode, the first leg module is unfolded and the first drive wheel 14, the second drive wheel 15 and the support wheel 12 of the second leg module are suspended. The thigh drive motor 3, the shank drive motor 4 and the belt transmission mechanism of each first leg module are operated to alternately touch the feet 7 to drive the wheel-foot hybrid robot to move.
As shown in fig. 4, when the leg modules are in the wheel mode, the first leg module is folded and the feet 7 of the first leg module are suspended. The first driving wheel 14, the second driving wheel 15 and the supporting wheel 12 are grounded. The support wheels 12 of the first leg modules assist in supporting the fuselage 1. The first motor 16 and the second motor 17 of the second leg module are operated to move the first drive wheel 14 and the second drive wheel 15 to drive the foot hybrid robot. The steering motor 18 is controlled to adjust the directions of the first driving wheel 14 and the second driving wheel 15, so that the steering of the wheel-foot hybrid robot is realized.
In summary, compared with the prior art, the wheel-foot hybrid robot has the following technical effects:
1) In the technical scheme provided by the application, the leg module is provided with two modes, namely a wheel mode and a foot mode, and can rapidly move in a flat plane when in the wheel mode. When in the foot mode, the device can be suitable for rugged road surfaces and can quickly avoid obstacles. Compared with the prior art, the position transfer efficiency of the wheel-foot hybrid robot is greatly improved, and the working radius of the wheel-foot hybrid robot is ensured. In addition, when the wheel is in the wheel mode, the wheel-foot hybrid robot can be quickly steered through the steering motor, so that the wheel-foot hybrid robot can be suitable for a narrow working environment, and the working condition range suitable for the wheel-foot hybrid robot is increased.
2) The position of the first leg module can be adjusted through the arrangement of the abduction motor, and the abduction motor is further suitable for various terrains.
3) The first leg module is composed of thighs and calves, the different swings of the thighs and the calves form the movement of the legs, power compensation during leg movement is achieved, and output torque of the thighs driving motor and the calves driving motor is effectively reduced.
4) The shank driving motor drives the shank to swing through the belt transmission mechanism, so that the technology is mature and the weight is light.
5) The lower leg driving motor is arranged in the thigh driving motor, so that the mechanism redundancy of the first leg module is effectively reduced, the motion inertia of the first leg module during motion is reduced, the motion of the robot is more stable, and the control precision of the robot is improved.
6) The driven wheel is sleeved on the hinge shaft, and the driven wheel effectively utilizes the structure of the hinge shaft when in arrangement, so that the structure is simple, and the weight is lighter.
7) The thigh adopts the form that two structural plates pass through the connecting piece and connect, has both guaranteed the structural strength of thigh, has alleviateed the weight of thigh again.
8) The supporting wheel is sleeved on the hinge shaft, and the supporting wheel effectively utilizes the structure of the hinge shaft when in setting, so that the structure is simple, and the weight is lighter.
9) When the wheel-foot hybrid robot moves, the mass center of the second leg module can be collinear with the mass center of the body in the vertical direction, and the problems that the movement of the robot is unstable and the control precision of the robot is reduced due to the fact that the mass center of the robot is inclined when the leg module is in a foot mode can be avoided.
10 The upper end part of the lower leg is of a U-shaped structure, and the structural strength of the lower leg is improved on the premise of being connected with the hinge shaft. The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides a sufficient hybrid robot of wheel which characterized in that: comprising the following steps:
A body;
the leg module is arranged on the robot body and used for driving the foot hybrid robot to move, and comprises a first leg module and a second leg module;
The first leg modules are wheel-foot type leg modules, the number of the wheel-foot type leg modules is four, the four first leg modules are respectively arranged on the left side and the right side of the machine body, the first leg modules on the same side are arranged along the front-back direction of the machine body, and each first leg module respectively comprises a foot part and a supporting wheel;
The second leg module comprises a steering motor, a frame, a first motor, a second motor, a first driving wheel and a second driving wheel, wherein the steering motor is fixed on the machine body, the axis of the output end of the steering motor extends along the vertical direction, and the frame is connected with the output end of the steering motor and can rotate around the axis of the output end of the steering motor when the steering motor is driven;
the first driving wheel and the second driving wheel are both rotatably mounted on the frame, the first motor and the second motor are both fixedly mounted on the frame, the first motor is used for driving the first driving wheel to rotate, and the second motor is used for driving the second driving wheel to rotate;
the centroid of the second leg module is collinear with the centroid of the fuselage in a vertical direction;
the frame includes a U-shaped member including: two side plates arranged oppositely, and a bottom plate connecting the two side plates;
the bottom plate is connected with the output end of the steering motor, the first driving wheel and the second driving wheel are respectively arranged on the side plates in a rotating way, and the axes of the first driving wheel and the second driving wheel are all in line along the left-right direction;
The wheel-foot hybrid robot further comprises an abduction motor, wherein the abduction motor is fixed on the machine body, the first leg module is fixed on the machine body through the abduction motor, and the output end of the abduction motor is connected with the first leg module so as to drive the first leg module to swing around the axis of the output end of the abduction motor in the left-right direction of the machine body;
the first leg module further comprises a thigh driving motor, a shank driving motor, a hinge shaft, a thigh and a shank;
the lower end of the thigh is hinged with the upper end of the shank through the hinge shaft, and the foot is arranged at the lower end of the shank;
The thigh driving motor is fixed at the output end of the abduction motor, and the upper end part of the thigh is arranged at the output end of the thigh driving motor;
the shank driving motor is used for driving the shank to swing around the hinge shaft;
the leg module has two modes of operation: foot mode and wheel mode;
When the leg module is in a wheel mode, the supporting wheel is used for supporting the machine body in an auxiliary mode, the foot of the first leg module is suspended, and the first driving wheel and the second driving wheel are driven by the first motor and the second motor to rotate and drive the wheel-foot hybrid robot to move; the frame can adjust the direction under the drive of the steering motor so as to adjust the moving direction of the wheel-foot hybrid robot;
When the robot is in a foot mode, the second leg modules and the supporting wheels are suspended, and feet of the first leg modules alternately touch the ground to drive the wheel-foot hybrid robot to move.
2. A wheel and foot hybrid robot according to claim 1, characterized in that:
the first driving wheel and the second driving wheel are respectively and rotatably arranged at the outer sides of the corresponding side plates.
3. A wheel and foot hybrid robot according to claim 2, characterized in that: the first motor and the second motor are both fixedly arranged on the inner side of the side plate.
4. A wheel and foot hybrid robot according to claim 1, characterized in that: the rack further comprises a reinforcement, and two ends of the reinforcement are respectively fixed on the bottom plate and one of the side plates; or the two ends of the reinforcement are respectively fixed on the two side plates.
5. The wheel and foot hybrid robot of claim 4, wherein: the reinforcement is the gusset plate, the both ends of gusset plate are fixed respectively two when being located on the curb plate, the gusset plate with the bottom plate is parallel.
6. The wheel and foot hybrid robot of claim 5, wherein: the utility model discloses a leg swing device, including the shank, shank driving motor, be fixed with from the driving wheel on the shank, shank driving motor's output is equipped with the action wheel, the action wheel with be equipped with the drive belt between the driving wheel, shank driving motor passes through the action wheel the drive belt is with power transmission extremely from the driving wheel, the driving wheel drives the shank is around the articulated shaft swing.
7. The wheel and foot hybrid robot of claim 6, wherein: the thigh driving motor is a frameless motor, the shank driving motor is arranged in an inner cavity of the frameless motor, and an output shaft of the shank driving motor extends out of the frameless motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011593525.2A CN112519916B (en) | 2020-12-29 | 2020-12-29 | Wheel-foot hybrid robot |
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| CN202011593525.2A CN112519916B (en) | 2020-12-29 | 2020-12-29 | Wheel-foot hybrid robot |
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| CN112519916A CN112519916A (en) | 2021-03-19 |
| CN112519916B true CN112519916B (en) | 2024-07-12 |
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