CN112572634A - Wheel-foot hybrid walking robot structure and control system - Google Patents
Wheel-foot hybrid walking robot structure and control system Download PDFInfo
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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
Abstract
The invention provides a wheel-foot hybrid walking robot structure and a control system, which adopt six-degree-of-freedom parallel legs, an auxiliary leg structure and driving wheels connected to the legs to be combined, and combine the advantages that a foot type robot can finish large-load and high-strength operation (such as carrying) on complex terrains, and the wheel type robot can also efficiently respond in real time on a smooth path, can finish actions such as wheel type straight walking, turning, transverse moving and the like on various terrains, not only embodies the characteristics of most basic walking motion and less degree of freedom, but also enhances the walking capability in structured and unstructured environments.
Description
Technical Field
The invention relates to the technical field of parallel robots, in particular to a wheel-foot hybrid walking robot structure and a control system.
Background
Compared with a series configuration, the parallel configuration robot has the characteristics of good rigidity, high precision, small inertia, large bearing capacity and the like, and a plurality of research institutions and manufacturing enterprises look good at the application prospect of the parallel configuration robot in the manufacturing field. The parallel mechanism is adopted as the walking robot body, and relatively excellent terrain adaptability is achieved. As early as 1972, early rice field university began to develop a WL series two-legged walking robot based on a parallel mechanism, and applied for a patent of a lower body module of the two-legged walking robot in china, patent No. 03826959.7. However, the center of gravity of the robot is between two legs, when the two legs stand, the center of gravity falls between two soles, when the robot walks in a stepping manner, one foot is lifted, if the center of gravity is not adjusted, the robot falls down, and the total stress is not good. In view of the above problems, chinese patent CN101973027B discloses a method for connecting a parallel walking robot, which solves the shortcoming that the existing parallel mechanism walking robot needs to adjust the center of gravity left and right when walking, but the robot has a slow walking speed in a structured environment, and improves the efficiency of the robot to ensure the smooth completion of tasks when dealing with work in emergency, such as material transportation, emergency rescue and disaster relief. The wheel type robot has the advantage of high speed, but needs a large turning radius when turning, cannot realize cross-sliding steering on the spot, and is not comfortable in an unstructured environment. The wheel-foot hybrid walking robot combines the advantages of a wheel-type and foot-type robot, a thesis of ' omnibearing gait switching method of an electric parallel wheel-foot robot based on velocity vectors ' is published in mechanical engineering journal ' in Liu Dong Gem equal to 2019 and 1 month, and an electric parallel four-wheel-foot robot is mentioned, but the robot has the defects of multiple degrees of freedom and the like.
The invention can achieve the following purposes: a walking robot structure and control system capable of walking, skidding, and changing the distance between toes, which can realize the most basic walking, skidding, etc., and can exhibit its advantages in both structured and unstructured environments, can perform the actions of wheeled straight walking, turning, lateral steering, single-leg or double-leg skidding, etc., and can realize steady-state walking without adjusting the center of gravity to the left or right.
Disclosure of Invention
The solution of the connection method of the parallel walking robot of the invention is as follows:
a wheel-foot hybrid walking robot structure and control system comprises a hip joint, a leg mechanism I, II, a wheel type structure body, a distance measuring sensor, an acceleration sensor, a force sensor and a control system; the leg mechanisms I, II comprise an upper platform, a lower platform and 6 main branches I, II, III, IV, V and VI connected with the upper platform and the lower platform, 2 upper platforms of the leg mechanisms I, II are fixedly connected together to form hip joints, the lower platforms of the leg mechanisms I, II are independent and have no mutual interference, each leg mechanism comprises 1 arch connecting frame, 3 ankle joint fixing seats and 3 toes, each ankle joint fixing seat is connected with 2 main branch chains, and the main branches I, II, III, IV, V and VI are connected with the hip joints and the respective lower platforms; the leg mechanisms I, II are interdigitated with and contained within each other; 1 auxiliary branched chain I, II, III, IV, V and VI is arranged on each toe of the leg mechanism I, II; the main branch chains I, II, III, IV, V and VI adopt a UPUR branched chain form, the auxiliary branched chains I, II, III, IV, V and VI are RP branched chains, the main branch chains I, II, III, IV, V and VI and the auxiliary branched chains I, II, III, IV, V and VI adopt electric cylinders or hydraulic cylinders, the hydraulic cylinders have absolute advantages in the aspect of rated thrust and can be used for large loads, and the electric cylinders are convenient and light to control and are applied to small thrust occasions; at least one leg mechanism in the leg mechanisms I, II is provided with a wheel mechanism, at least one wheel mechanism in the wheel mechanism is a direction wheel, the axial directions of other wheels outside the direction wheel are mutually parallel, and the direction is controlled by a motor; and 2 of the wheel mechanisms are direction wheels to form reverse three wheels.
The auxiliary branched chain is a serial mechanism formed by RP, the axial direction of the R pair is vertical to the direction of the P pair, and is parallel to the plane of the hip joint (1).
The wheel mechanism can be freely disassembled as an independent body.
The control system takes a single chip microcomputer or a PLC as a core and is used for controlling the motion of the motors in the main branched chains I, II, III, IV, V and VI, the auxiliary branched chains I, II, III, IV, V and VI and the guide wheel assembly and the motors I, II in the auxiliary wheel assembly I, II, and serial port communication is adopted among the single chip microcomputers or the PLC; the acceleration sensor is used for measuring the movement speed of the leg mechanism I, II; the control system adopts one or two of a solar panel and a storage battery for power supply.
Displacement sensors are arranged on the main branch chains I, II, III, IV, V and VI and the auxiliary branch chains I, II, III, IV, V and VI of the leg mechanism I, II, and the lengths of all the branch chains of the leg mechanism I, II are accurately controlled.
The control system realizes the wheel-foot type stepping walking, single-leg skidding, steering transverse-moving skidding and double-leg skidding modes of the wheel-foot hybrid walking robot.
The roller skating and walking modes are controlled by a function conversion device, and free switching is realized.
After the control system is powered on and the start button is pressed down, the leg mechanism I, II alternately changes to step forwards to drive the auxiliary branched chains I, II and III to alternately contact with the wheel mechanism, and the wheel mechanism motor is in a brake control state to realize wheel-foot type stepping forwards.
The function switching device is switched to a single-leg wheel-sliding state, main branch chains I, II, III, IV, V and VI in the leg mechanism I, II are all in a neutral position state, auxiliary branch chains IV, V and VI extend out, the wheel mechanism contacts the ground, a motor in the wheel mechanism is in a sliding state, and the auxiliary branch chains I, II and III are retracted to be separated from the ground; the leg mechanism I steps forward, the auxiliary branched chains I, II and III extend out to touch the ground and slide backwards, the friction force drives the leg mechanism II to slide forwards, and further the auxiliary branched chains I, II and III retract to leave the ground, so that single-leg skidding is realized.
The distance measuring sensor detects the peripheral obstacles of the robot, the motor in the wheel mechanism is changed into a braking state, and the auxiliary branched chains I, II and III touch the ground to prevent the robot from tipping over; the motor in the wheel mechanism rotates forwards or backwards synchronously at the same angle to change the movement direction, the auxiliary branched chains I, II and III of the leg mechanism I slide backwards when contacting with the ground, the wheel mechanism is in a sliding state, and the leg mechanism II slides forwards after turning.
Wheel mechanisms are arranged below the leg mechanisms I, II, the leg mechanisms I, II alternately step to drive the wheel mechanisms to alternately touch the ground and apply force, the wheel mechanisms on the leg mechanisms for applying force are in a braking state, the wheel mechanisms on the leg mechanisms for sliding are in a sliding state, and accordingly double-leg wheel sliding is achieved.
The distance measuring sensor can be one of a laser distance measuring sensor, a radar distance measuring sensor and an ultrasonic distance measuring sensor or a plurality of combinations.
The force sensor is arranged at the bottom of the toe and used for detecting the landing state of the leg mechanism I, II, sensing the hardness of the ground and judging the state of the environment.
And dampers are arranged on the auxiliary branched chains I, II, III, IV, V and VI to absorb energy and shock.
The wheel mechanisms (4) are all provided with braking devices.
The invention has the beneficial effects that: compared with the existing mechanism, the wheel-foot hybrid walking robot structure and the control system provided by the invention realize the most basic walking, skidding and other actions, not only embody the characteristics of the most basic walking motion and less freedom degree, but also enhance the walking capability in the structured and unstructured environments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention.
FIG. 1 is a schematic structural view of a wheel-foot hybrid walking robot;
FIG. 2 is a schematic structural view of a leg mechanism I;
FIG. 3 is a schematic view of a branched chain structure of a leg mechanism I without a hip joint;
FIG. 4 is a schematic structural view of a leg mechanism II;
FIG. 5 is a schematic view of a branched chain structure of a hip-free leg mechanism II;
FIG. 6 is a schematic diagram of the leg mechanisms I, II each having a wheel mechanism;
FIG. 7 is a schematic structural diagram of a control system of the wheel-foot hybrid walking robot;
FIG. 8 is a schematic diagram of a motor control circuit of a wheel mechanism of the wheel-foot hybrid walking robot.
In the figure: 1. hip joint, 2-leg structure I, 3, leg structure II, 4, wheel mechanism, 5, distance measuring sensor, 6, acceleration sensor, 7, force sensor, 201, 202, 203, 204, 205, 206, main branch chain I, II, III, IV, V, VI, 207, ankle joint fixing base, 208, 209, 210, 211, 212, 213, auxiliary branch chain I, II, III, IV, V, VI.
Detailed Description
The details of the present invention and its embodiments are further described below with reference to the accompanying drawings.
Referring to fig. 1, 2, 3, 4, 5, and 6, a wheel-foot hybrid walking robot structure and control system includes a hip joint (1), a leg mechanism I, II (2, 3), a wheel-type structure (4), a distance measuring sensor (5), an acceleration sensor (6), a force sensor (7), and a control system; the leg mechanisms I, II (2, 3) each include an upper platform, a lower platform and 6 main branches I, II, III, IV, V, VI (201, 202, 203, 204, 205, 206) connecting the upper platform and the lower platform, 2 upper platforms of the leg mechanisms I, II (2, 3) are fixedly connected together to form a hip joint (1), the lower platforms of the leg mechanisms I, II (2, 3) are independent and have no mutual interference, each lower platform includes 1 arch link, 3 ankle joint holders, 3 toes, each ankle joint holder is connected with 2 main branch chains, and the main branches I, II, III, IV, V, VI (201, 202, 203, 204, 205, 206) are connected with the hip joint (1) and the respective lower platform; the leg mechanisms I, II (2, 3) are mutually crossed and mutually contained; each ankle joint fixing seat of the leg mechanisms I, II (2, 3) is provided with 1 auxiliary branched chain I, II, III, IV, V, VI (208, 209, 210, 211, 212, 213), and a wheel mechanism (4) is arranged below at least one leg mechanism in the leg mechanisms I, II (2, 3).
Referring to fig. 1, 2, 3, 4, 5, the leg mechanism I (2) is a foot-type leg, the leg mechanism II (3) is a wheel-type leg, the main branch chain I, II, III, IV, V, VI (201, 202, 203, 204, 205, 206) is in the form of a upr branch chain, the auxiliary branch chain I, II, III, IV, V, VI (208, 209, 210, 211, 212, 213) is an RP branch chain, and the main branch chain I, II, III, IV, V, VI (201, 202, 203, 204, 205, 206) and the auxiliary branch chain I, II, III, IV, V, VI (208, 209, 210, 211, 212, 213) are driven by an electric cylinder and an electric motor.
Referring to fig. 1, 2, 3, 4, and 5, the main branch chains I, II, III, IV, V, and VI (201, 202, 203, 204, 205, and 206) are all composed of a universal joint I, a universal joint II, and an electric cylinder I, and the universal joint I and the universal joint II are distributed at two ends of the electric cylinder I; the universal joint cross I is fixedly arranged on the hip joint, and a rotating shaft of the universal joint cross II is provided with a bearing and is fixed on an ankle joint fixing seat (207).
Referring to fig. 1, 2, 3, 7, and 8, the control system uses a single chip microcomputer or PLC as a core, and is configured to control the operation of the motors (401-3) in the main branch chain I, II, III, IV, V, VI (201, 202, 203, 204, 205, 206), the motors (I, II) in the auxiliary branch chain I, II, III, IV, V, VI (208, 209, 210, 211, 212, 213), the guide wheel assembly (401), and the auxiliary wheel assembly I, II (402, 403), and the single chip microcomputer or PLC uses serial port communication; the acceleration sensor (6) is used for measuring the movement speed of the leg mechanisms I, II (2, 3); the control system adopts one or two of a solar panel and a storage battery for power supply.
Referring to fig. 8, the control system selects 3 singlechips as a core processor, and data is transmitted by serial communication.
Referring to fig. 8, the wheel mechanism (4) adopts a motor as a driving device; the motor adopts an H-bridge driving mode, and can obtain 4 modes of forward rotation, reverse rotation, braking, sliding state and the like; the wheel mechanism (4) can realize the switching of sliding state, forward rotation, reverse rotation and braking state by changing the control mode of the motor; the wheel mechanism (4) is in contact with the ground, and the guide wheel plays a role in controlling the direction.
Referring to fig. 1, the main branches I, II, III, IV, V, VI (201, 202, 203, 204, 205, 206), the auxiliary branches I, II, III, IV, V, VI (208, 209, 210, 211, 212, 213) of the leg mechanism I, II (2, 3) are all provided with displacement sensors to measure the elongation variation of each branch, thereby realizing the precise control of the length of each branch of the leg mechanism I, II (2, 3).
Referring to fig. 1, the distance measuring sensor (5) is an ultrasonic sensor, is mounted on the hip joint (1), is matched with the advancing direction of the robot, selects 6 ultrasonic sensors, and is respectively mounted on the auxiliary branched chains I, II, III, IV, V, VI (208, 209, 210, 211, 212, 213) in the projection position of the hip joint (1) in the vertical direction to detect the existence of obstacles around the wheel-foot hybrid walking robot.
Referring to fig. 1, a force sensor (7) is installed at the bottom of the toe for detecting the landing state of the leg mechanisms I, II (2, 3) and sensing the hardness of the ground.
Referring to fig. 1, the auxiliary branches I, II, III, IV, V, and VI (208, 209, 210, 211, 212, and 213) are all installed with dampers to absorb energy.
Referring to fig. 1, 2, 3, and 7, the control system totally adopts 3 singlechips, and serial port communication is adopted among the 3 singlechips, wherein the 1 st singlechip is used for motors of main branch chains I, II, III, IV, V, VI (201, 202, 203, 204, 205, 206) of a leg mechanism I, II (2, 3), and the motors are regulated in a PWM manner, the 2 nd singlechip is used for controlling motors of auxiliary branch chains I, II, III, IV, V, VI (208, 209, 210, 211, 212, 213), the 3 rd singlechip is used for controlling motors of a guide wheel assembly I (401) and an auxiliary wheel assembly I, II (402, 403), and the motors (401-3) are driven by an H bridge; the serial port 1 of the 1 st singlechip is connected with the serial port 1 of the 2 nd singlechip, and the serial port 1 of the 3 rd singlechip is connected with the serial port 2 of the 2 nd singlechip; the signal of the force sensor (7) is collected by the 2 nd singlechip; signals of the displacement sensors are collected by the 2 nd single chip microcomputer, and signals of the displacement sensors of the main branched chains I, II, III, IV, V and VI (201, 202, 203, 204, 205 and 206) of the leg mechanisms I, II (2 and 3) are sent to the 1 st single chip microcomputer through serial ports and are used for PID control of the main branched chains; the start button is used to start the robot movement and the stop button is used to stop the robot movement.
Referring to fig. 1, fig. 2, fig. 3, and fig. 8, when the level of the pin IO1 of the single chip microcomputer is converted from the level of the pin IO2, the state switching of the motor is realized, when the level of the pin IO1 is 1, and the level of the pin IO2 is 0, the motor rotates forward; when the level of the IO1 pin is 0 and the level of the IO2 pin is 1, the motor rotates reversely; when the level of the IO1 pin is 1 and the level of the IO2 pin is 1, the motor is in a braking state; when the level of the IO1 pin is 0 and the level of the IO2 pin is 0, the motor is in a sliding state.
The specific walking mode is as follows:
(1) wheel-foot type stepping walking mode
Referring to fig. 1, when the auxiliary branched chains I, II, III (208, 209, 210) of the leg mechanism I (2) extend to contact the ground, and when the auxiliary branched chains IV, V, VI (211, 212, 213) retract, the height of the leg mechanism I (2) is increased, and the obstacle crossing capability of the leg mechanism I (2) is enhanced; when the auxiliary branched chains IV, V and VI (211, 212 and 213) of the leg mechanism II (3) extend out, the wheel mechanism (4) is driven to contact the ground, and the auxiliary branched chains I, II and III (208, 209 and 210) of the leg mechanism I (2) retract, so that the height of the leg mechanism II (3) is increased, and the obstacle crossing capability of the leg mechanism II (3) is enhanced.
Referring to fig. 1, 2, 4, 7, and 8, when the start button is pressed, the wheel-foot hybrid robot walks in a walking manner, the leg mechanisms I, II (2 and 3) alternately move forward to bring the auxiliary branched chains I, II, and III (208, 209, and 210) into contact with the wheel mechanism (4) alternately, and the motor in the wheel mechanism (4) is in a brake control state to realize wheel-foot stepping forward.
(2) Single-leg roller skating mode
Referring to fig. 1, 7 and 8, the main branches I, II, III, IV, V and VI (201, 202, 203, 204, 205, 206) of the leg mechanism I, II (2, 3) are all in a neutral state, the auxiliary branches IV, V and VI (211, 212, 213) of the leg mechanism II (3) are extended, the wheel mechanism (4) contacts the ground, the motor of the wheel mechanism (4) is in a sliding state, and the auxiliary branches I, II and III (208, 209, 210) of the leg mechanism I (2) are retracted to be disengaged from the ground; further, the displacement of each main branch chain I, II, III, IV, V, VI (201, 202, 203, 204, 205, 206) of the leg mechanism I (2) is obtained according to the step distance, the leg mechanism I (2) steps forwards, the auxiliary branch chains I, II, III (208, 209, 210) of the leg mechanism I (2) extend out and slide backwards in a grounding way, the leg mechanism II (3) is driven to slide forwards by friction force, and further the auxiliary branch chains I, II, III (208, 209, 210) of the leg mechanism I (2) are retracted away from the ground; according to the sliding track, the wheel mechanism (4) slides according to the direction controlled by the direction wheel, and the single-leg wheel-sliding walking is realized.
(3) Steering and transverse moving skidding mode
Referring to fig. 1, 2, 4, 7 and 8, in the forward process, the distance measuring sensor (5) detects an obstacle around the robot, the motor in the wheel mechanism (4) is in a braking state, and meanwhile, the auxiliary branched chains I, II and III (208, 209 and 210) of the leg mechanism I (2) extend out to touch the ground to prevent the robot from tipping; further, the motor in the wheel mechanism (4) synchronously rotates forwards or reversely by the same angle to change the motion direction on site, further, the auxiliary branched chains I, II and III (208, 209 and 210) of the leg mechanism I (2) extend out to slide backwards in a contact manner, the wheel mechanism (4) slides according to the direction controlled by the direction wheels, other wheels are in a sliding state, and the leg mechanism II (3) is rotated to the rear transverse moving wheel to slide.
(4) Double-leg roller skating mode
Referring to fig. 6, 7 and 8, a wheel mechanism (4) is mounted below each of the leg mechanisms I, II (2, 3), and the main branches I, II, III, IV, V and VI (201, 202, 203, 204, 205 and 206) in the leg mechanism I, II (2, 3) are all in a neutral state; the auxiliary branched chains IV, V and VI (211, 212 and 213) of the leg mechanism II (3) extend out, the wheel mechanism (4) is contacted with the ground, and a motor of the wheel mechanism (4) is in a sliding state; the auxiliary branched chains I, II and III (208, 209 and 210) of the leg mechanism I (2) are retracted to be separated from the ground; further, the displacement of each main branch chain I, II, III, IV, V and VI (201, 202, 203, 204, 205 and 206) of the leg mechanism I (2) is obtained according to the step distance, the leg mechanism I (2) steps forwards, further, a wheel mechanism (4) of the leg mechanism I (2) is in a braking state, auxiliary branch chains I, II and III (208, 209 and 210) extend out to touch and slide backwards, friction force drives the leg mechanism II (3) to slide forwards, and further, the auxiliary branch chains I, II and III (208, 209 and 210) of the leg mechanism I (2) are retracted away from the ground; according to the sliding track, the wheel mechanism (4) of the leg mechanism II (3) slides according to the direction controlled by the direction wheel; after sliding for a period of time, the speed of the wheel mechanism (4) of the leg mechanism II (3) is gradually reduced, the auxiliary branched chains I, II, III (208, 209, 210) of the leg mechanism I (2) extend to drive the wheel mechanism (4) to touch the ground, the auxiliary branched chains IV, V, VI (211, 212, 213) of the leg mechanism II (3) are retracted to be separated from the ground, further, the wheel mechanism (4) of the leg mechanism II (3) is in a braking state, the auxiliary branched chains IV, V, VI (211, 212, 213) extend to touch the ground and slide backwards, further, the wheel mechanism (4) of the leg mechanism I (2) is in a sliding state, and the auxiliary branched chains I, II, III IV, V, VI (211, 212, 213) of the leg mechanism II (3) are retracted to be separated from the ground; the leg mechanisms I, II (2, 3) alternately realize the walking in a double-leg wheel-sliding mode.
The above description is only a preferred example 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, improvement and the like of the present invention shall be included in the protection scope of the present invention.
Claims (10)
1. A wheel-foot hybrid walking robot structure and a control system comprise a hip joint (1), leg mechanisms I, II (2, 3), a wheel mechanism (4), a distance measuring sensor (5), an acceleration sensor (6), a force sensor (7) and a control system; the leg mechanisms I, II (2, 3) each include an upper platform, a lower platform and 6 main branches I, II, III, IV, V, VI (201, 202, 203, 204, 205, 206) connecting the upper platform and the lower platform, 2 upper platforms of the leg mechanisms I, II (2, 3) are fixedly connected together to form a hip joint (1), the lower platforms of the leg mechanisms I, II (2, 3) are independent and have no mutual interference, each lower platform includes 1 arch link, 3 ankle joint holders, 3 toes, each ankle joint holder is connected with 2 main branch chains, and the main branches I, II, III, IV, V, VI (201, 202, 203, 204, 205, 206) are connected with the hip joint (1) and the respective lower platform; the leg mechanisms I, II (2, 3) are mutually crossed and mutually contained; each ankle joint fixing seat of the leg mechanisms I, II (2, 3) is provided with 1 auxiliary branched chain I, II, III, IV, V, VI (208, 209, 210, 211, 212, 213), and a wheel mechanism (4) is arranged below at least one leg mechanism in the leg mechanisms I, II (2, 3).
2. The structure and control system of a wheel-foot hybrid walking robot according to claim 1, wherein: the auxiliary branched chain is a serial mechanism formed by RP.
3. The structure and control system of a wheel-foot hybrid walking robot according to claim 1, wherein: the control system takes a single chip microcomputer or a PLC as a core and is used for controlling the actions of main branched chains I, II, III, IV, V and VI (201, 202, 203, 204, 205 and 206), auxiliary branched chains I, II, III, IV, V and VI (208, 209, 210, 211, 212 and 213) and a wheel mechanism (4), and serial port communication is adopted among the single chip microcomputer or the PLC; the acceleration sensor (6) is used for measuring the movement speed of the leg mechanisms I, II (2, 3); the control system adopts one or two of a solar panel and a storage battery for power supply.
4. The structure and control system of a wheel-foot hybrid walking robot according to claim 1, wherein: at least one wheel mechanism in the wheel mechanisms (4) is a direction wheel, the axial directions of other wheels outside the direction wheel are mutually parallel, and the direction is controlled by a motor; 2 of the wheel mechanisms (4) are direction wheels to form reverse three wheels.
5. The structure and control system of a wheel-foot hybrid walking robot according to claim 1, wherein: the roller skating and walking modes are controlled by a function conversion device, and free switching is realized.
6. The structure and control system of a wheel-foot hybrid walking robot according to claim 1, wherein: after the control system is powered on and the start button is pressed down, the leg mechanisms I, II (2 and 3) alternately change to step forwards to drive the auxiliary branched chains I, II and III (208, 209 and 210) to alternately contact with the wheel mechanism (4), and the motor of the wheel mechanism (4) is in a brake control state to realize wheel-foot type stepping and forwarding.
7. The structure and control system of a wheel-foot hybrid walking robot according to claim 1, wherein: the function switching device is switched to a single-leg roller-skating state, the main branched chains I, II, III, IV, V and VI (201, 202, 203, 204, 205 and 206) in the leg mechanisms I, II (2 and 3) are all in a neutral position state, the auxiliary branched chains IV, V and VI (211, 212 and 213) are extended out, the wheel mechanism (4) is grounded, the motor in the wheel mechanism (4) is in a sliding state, and the auxiliary branched chains I, II and III (208, 209 and 210) are retracted to be separated from the ground; the leg mechanism I (2) steps forward, the auxiliary branched chains I, II and III (208, 209 and 210) extend out to touch the ground and slide backwards, the friction force drives the leg mechanism II (3) to slide forwards, and further the auxiliary branched chains I, II and III (208, 209 and 210) retract to leave the ground, so that single-leg wheel slip is realized.
8. The structure and control system of a wheel-foot hybrid walking robot according to claim 1, wherein: the distance measuring sensor (5) detects obstacles around the robot, a motor in the wheel mechanism (4) is in a braking state, and the auxiliary branched chains I, II and III (208, 209 and 210) touch the ground to prevent the robot from tipping; the motor in the wheel mechanism (4) rotates forwards or backwards synchronously at the same angle to change the moving direction, the auxiliary branched chains I, II and III (208, 209 and 210) of the leg mechanism I (2) slide backwards after contacting with the ground, the wheel mechanism (4) is in a sliding state, and the leg mechanism II (3) slides forwards after rotating.
9. The structure and control system of a wheel-foot hybrid walking robot according to claim 1, wherein: wheel mechanisms (4) are arranged below the leg mechanisms I, II (2, 3), the leg mechanisms I, II (2, 3) alternately step to drive the wheel mechanisms (4) to alternately touch the ground and apply force, the wheel mechanism (4) on the force-applying leg mechanism is in a braking state, and the wheel mechanism (4) on the other leg mechanism is in a sliding state, so that the double-leg wheel skidding is realized.
10. The structure and control system of a wheel-foot hybrid walking robot according to claim 1, wherein: the force sensor (7) is arranged at the bottom of the toes and used for detecting the landing state of the leg mechanisms I, II (2, 3) and sensing the hardness of the ground; the auxiliary branched chains I, II, III, IV, V and VI (208, 209, 210, 211, 212 and 213) are all provided with dampers for absorbing energy and absorbing shock; the wheel mechanisms (4) are all provided with braking devices.
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| CN113200101A (en) * | 2021-05-07 | 2021-08-03 | 华中师范大学 | Quadruped robot |
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