CN112590964A - Wheel-leg combined robot and control method thereof - Google Patents
Wheel-leg combined robot and control method thereof Download PDFInfo
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- CN112590964A CN112590964A CN202011478968.7A CN202011478968A CN112590964A CN 112590964 A CN112590964 A CN 112590964A CN 202011478968 A CN202011478968 A CN 202011478968A CN 112590964 A CN112590964 A CN 112590964A
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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 discloses a wheel-leg combined robot and a control method thereof, and the wheel-leg combined robot comprises a front frame, a rear frame, a waist-bending steering device, 4 leg mechanisms, 2 middle leg mechanisms, a power source and a control device, wherein the front frame is connected with the rear frame through the waist-bending steering device, the 2 leg mechanisms are arranged on two sides of the front frame, the other 2 leg mechanisms are arranged on two sides of the rear frame, the 2 middle leg mechanisms are respectively arranged at the front end of the front frame and the rear end of the rear frame, the power source and the control device are connected with the waist-bending steering device, the leg mechanisms and the middle leg mechanisms, and two wheel mechanisms are uniformly arranged at the bottoms of the front frame and the rear frame. The invention improves the adaptability of the robot to the terrain.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wheel-leg combined robot and a control method thereof.
Background
In modern war, every country strives for "zero death," and in achieving the intended military goals, it is desirable to minimize the rate of casualties. Under the traction of such military needs, more unmanned troops integrating mechanization, informatization, electronization, motorization and invisibility become an important force in future war.
For the ground unmanned robot, the crawler belt has strong adaptability to terrain, but the crawler belt is easy to wear, the difficulty of opening the mold of the crawler belt is high and the like during turning, which become bottlenecks of application; the wheeled mobile robot overcomes the defects of the crawler type, and is flexible in movement and simple in control. However, the adaptability of the wheeled mobile robot to the terrain is poor, generally, the adaptability of the wheeled mobile robot to the terrain is in direct proportion to the number of wheels, but with the increase of the number of the wheels, the robot has the defects of large size, heavy weight and the like. The legged mobile robot has strong adaptability to the terrain and can pass through larger trenches and steps. But the structure and control are complex, and the speed and the efficiency are low. The wheel-leg robot has the advantages of flexibility, high driving speed, strong obstacle crossing capability and the like.
Disclosure of Invention
The invention aims to solve the technical problem that in order to overcome the defects in the prior art, the invention provides the wheel-leg combined robot and the control method thereof, and the adaptability of the robot to the terrain is improved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a wheel leg combined type robot, including preceding frame, back frame, the waist turns to the device, 4 leg mechanism, 2 well leg mechanism, power supply and controlling means, preceding frame turns to device and back connected to the frame through the waist, 2 leg mechanism arrange in the both sides of preceding frame, 2 leg mechanism arrange in the both sides of back frame in addition, 2 well leg mechanism arrange respectively in the front end of preceding frame and the rear end of back frame, power supply and controlling means and the waist turns to the device, leg mechanism and well leg mechanism are connected, preceding frame and back frame bottom equipartition have been put two wheeled mechanisms.
According to the technical scheme, the bowing steering device comprises two groups of connecting plates, a rotating shaft and two telescopic push-pull rods, wherein the two groups of connecting plates are respectively connected with the front frame and the rear frame, the rotating shaft is respectively connected with the two groups of connecting plates through bearings, the two telescopic push-pull rods are respectively arranged on the left side and the right side of the rotating shaft, and two ends of each telescopic push-pull rod are respectively connected with the two groups of connecting plates.
According to the technical scheme, the leg type mechanism comprises a gait adjusting rod, a crank, a single-degree-of-freedom joint motor, a double-degree-of-freedom joint motor, a four-bar mechanism and a crank connecting rod, wherein the single-degree-of-freedom joint motor is hinged with the upper end of the leg rod through the crank connecting rod, the double-degree-of-freedom joint motor is hinged with the upper end of the leg rod through the four-bar mechanism, two ends of the gait adjusting rod are respectively hinged with the crank and the four-bar mechanism, the lower end of the leg rod is connected with a foot, and a leg collecting electric push rod.
According to the technical scheme, the four-bar mechanism comprises a T-shaped bar, two side connecting rods and a cross bar, the upper portion of the T-shaped bar is hinged to a gait adjusting bar, two ends of the lower portion of the T-shaped bar are hinged to one ends of the two side connecting rods respectively, the other ends of the two side connecting rods are hinged to two ends of the cross bar respectively, one side connecting rod is hinged to a crank connecting rod and a leg bar, one end of the lower portion of the T-shaped bar is connected with a two-degree-of-freedom joint motor, and two ends of a leg collecting electric push rod are hinged to a horizontal bar.
According to the technical scheme, a plurality of positioning holes are arranged on the gait adjusting rod at intervals along the length direction, and the T-shaped rod is hinged with the gait adjusting rod through different positioning holes.
According to the technical scheme, the crank is hinged with the gait adjusting rod and the crank connecting rod through the first pin shaft, and the leg rods are hinged with the crank connecting rod, the cross rod and the corresponding side rods through the second pin shaft.
According to the technical scheme, the wheel type mechanism comprises a longitudinal arm and a wheel, one end of the longitudinal arm is connected with the frame through a rotating shaft, the other end of the longitudinal arm is connected with the wheel, the rotating shaft is connected with a longitudinal arm joint motor, the longitudinal arm joint motor is fixedly arranged on the frame, the longitudinal arm joint motor drives the longitudinal arm to rotate around the rotating shaft, and the wheel is connected with a wheel hub motor.
According to the technical scheme, the middle leg mechanism comprises a rotary actuator, a thigh rod, a shank rod and a middle foot part, the rotary actuator is arranged on the vehicle body and connected with the upper end of the thigh rod, the lower end of the thigh rod is hinged with the upper end of the shank rod, the middle foot part is connected with the lower end of the shank rod, a first push-pull mechanism is connected between the rotary actuator and the thigh rod, and a second push-pull mechanism is connected between the thigh rod and the shank rod.
According to the technical scheme, the rotary actuator comprises a support and a middle leg joint motor, the middle leg joint motor is fixedly arranged on the vehicle body, the output end of the middle leg joint motor is connected with the support, one end of a thigh rod is hinged with the support, and the middle leg joint motor drives the support to drive a thigh to rotate relative to the vehicle body; two ends of the first push-pull mechanism are respectively hinged with the bracket and the thigh rod, and two ends of the second push-pull mechanism are respectively hinged with the thigh rod and the shank rod.
A control method adopting the wheel-leg combined robot comprises the steps that a leg type mechanism comprises a gait adjusting rod, a crank, a single-degree-of-freedom joint motor, a two-degree-of-freedom joint motor, a four-bar mechanism and a crank connecting rod, wherein the single-degree-of-freedom joint motor is hinged with the upper end of a leg rod through the crank connecting rod, the two-degree-of-freedom joint motor is hinged with the upper end of the leg rod through the four-bar mechanism, two ends of the gait adjusting rod are respectively hinged with the crank and the four-bar mechanism, the lower end of the leg rod is connected with a foot, and a leg collecting electric push rod is connected;
the control method comprises the following steps: when the robot is in a flat road environment and needs to pass through quickly, the robot selects a wheel mode to pass through, when the robot is on a complex road surface and the wheel mode cannot pass through, the robot selects a leg mode to pass through, and when the robot meets the obstacle crossing road condition needing obstacle crossing, the robot selects an obstacle crossing mode to pass through;
in the wheel mode, the middle leg mechanism and the leg mechanism are in a retracted state, and only four wheel mechanisms land;
in the leg mode, the leg mechanism is driven by only one power source, and the control process can be divided into the following steps: the control device controls the braking of the hub motor; the control device controls the leg type mechanism to be put down and locked, and the leg type mechanism operates; the control device controls the wheel type mechanism to retract; connecting the four-bar linkage with the hole of the gait adjusting rod; disconnecting the two-degree-of-freedom motor from the four-bar mechanism; the control device controls the single-degree-of-freedom motor to drive the leg type mechanism;
in the obstacle crossing mode, the leg type mechanism is input by two power sources, and meanwhile, the middle leg mechanism assists in obstacle crossing and disconnects the T-shaped rod from the gait adjusting rod; the spline sleeve on the two-freedom-degree motor is moved to the middle and connected with the four-bar mechanism; the control device controls the middle leg type mechanism to be put down; the vehicle control unit controls the single-degree-of-freedom motor, the double-degree-of-freedom motor and the middle leg mechanism to cooperatively move.
The invention has the following beneficial effects:
the robot can be switched between six feet and four feet through the leg type mechanism, the middle leg mechanism and the wheel type mechanism, the four feet mode ensures a certain travelling speed, the control difficulty is reduced, the six feet mode ensures the stability of the vehicle body when the robot crosses obstacles under complex terrains, and the adaptability of the robot to the terrains is improved.
Drawings
FIG. 1 is an elevation view of a wheel-leg hybrid robot in an embodiment of the present invention;
FIG. 2 is a front view of a wheel-leg hybrid robot in an embodiment of the present invention;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a block diagram of a control apparatus in the embodiment of the present invention;
FIG. 5 is a logic diagram of a control method of the wheel-leg hybrid robot according to the embodiment of the present invention;
FIG. 6 is a flowchart of a control method of the wheel-leg hybrid robot according to the embodiment of the present invention;
in the figure, 1-front frame, 2-rear frame, 3-articulated steering device, 4-leg mechanism, 5-wheel mechanism, 6-middle leg mechanism, 7-power source, 8-control device, 9-longitudinal arm joint motor, 10-single degree of freedom joint motor, 11-two degree of freedom joint motor, 12-middle leg joint motor, 13-crank, 14-T-shaped rod, 15-gait adjusting rod, 16-leg-collecting electric push rod, 17-foot, 18-longitudinal arm, 19-wheel, 20-middle leg electric push rod, 21-crank connecting rod, 22-side connecting rod and 23-cross connecting rod.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Referring to fig. 1 to 6, a wheel-leg combined robot in one embodiment of the present invention includes a front frame 1, a rear frame 2, a bowing steering device 3, 4 leg mechanisms 4, 2 middle leg mechanisms 6, a power source 7 and a control device 8, the front frame 1 is connected to the rear frame 2 through the bowing steering device 3, the 2 leg mechanisms 4 are disposed on two sides of the front frame 1, the other 2 leg mechanisms 4 are disposed on two sides of the rear frame 2, the 2 middle leg mechanisms 6 are respectively disposed at a front end of the front frame 1 and a rear end of the rear frame 2, the power source 7 and the control device 8 are connected to the bowing steering device 3, the leg mechanisms 4 and the middle leg mechanisms 6, and two wheel mechanisms 5 are disposed at bottoms of the front frame 1 and the rear frame 2.
Further, the power source 7 is connected to the control device 8, the leg mechanisms 4 are provided in one-to-one correspondence with the wheel mechanisms 5, and the wheel mechanisms 5 are disposed on one side of the respective leg mechanisms 4.
Further, the bowing steering device 3 comprises two groups of connecting plates, a rotating shaft and two telescopic push-pull rods, wherein the two groups of connecting plates are respectively connected with the front frame 1 and the rear frame 2, the rotating shaft is respectively connected with the two groups of connecting plates through bearings, the two telescopic push-pull rods are respectively arranged on the left side and the right side of the rotating shaft, and two ends of each telescopic push-pull rod are respectively connected with the two groups of connecting plates.
Furthermore, the telescopic push-pull rod is an electric push rod, each group of connecting plates comprises two triangular plates, and 4 triangular plates of the two groups of connecting plates are mutually arranged in a vertically staggered mode.
Further, the articulated steering device 3 consists of two electric push rods and 4 triangular plates; the 4 triangular plates are divided into an upper group and a lower group and are respectively fixedly connected with the front frame and the rear frame 2, each group is arranged in an up-down staggered and opposite mode, a round hole is formed in the middle of each group, the front parts of each group are connected through a rotating shaft, and the triangular plates can rotate around the rotating shafts; the cylinder body end of the electric push rod is connected with the rear frame 2 through a hinge device, the push rod end is fixedly connected with the front frame 1 through a pin, and the whole electric push rod is supported through two-end connecting devices and is positioned above the triangular plate. When steering is required, the steering electric push rods arranged on the frame extend and contract, so that the front frame 1 rotates around a rotating shaft in the articulated steering device 3, and meanwhile, the wheels 19 or the leg mechanisms 4 advance at different speeds, and the combination of differential steering and mechanical steering is realized. The adoption of the combination of articulated steering and differential steering reduces unsprung mass and improves the maneuverability and flexibility of the robot.
Further, the leg mechanism 4 comprises a gait adjusting rod 15, a crank 13, a single-degree-of-freedom joint motor 10, a two-degree-of-freedom joint motor 11, a four-bar mechanism and a crank connecting rod 21, the single-degree-of-freedom joint motor 10 is hinged to the upper end of the leg rod through the crank 13 through the crank connecting rod 21, the two-degree-of-freedom joint motor 11 is hinged to the upper end of the leg rod through the four-bar mechanism, two ends of the gait adjusting rod 15 are hinged to the crank 13 and the four-bar mechanism respectively, the lower end of the leg rod is connected with a foot 17, and a leg retracting electric push rod 16 is connected.
The leg type mechanism 4 is arranged on the side surface of the frame and comprises 8 rod pieces, a leg-retracting electric push rod 16, a single-degree-of-freedom joint motor 10, a double-degree-of-freedom joint motor 11 and a foot part 17. One end of a crank 13 is connected with an output shaft of the single-degree-of-freedom joint motor 10, one end of a T-shaped rod 14 is connected with an output shaft of the double-degree-of-freedom joint motor 11, and every two rod pieces are connected in a hinged mode. The leg-folding electric push rod 16 is fixed between the two-piece type rod pieces, the shell of the single-degree-of-freedom and double-degree-of-freedom joint motor 11 is fixed with the frame through screws, the single-degree-of-freedom joint motor 10 is connected with the crank 13 through a coupler, and the double-degree-of-freedom joint motor 11 is connected with the T-shaped rod 14 through the coupler and a shaft with splines.
Further, the four-bar linkage mechanism comprises a T-shaped rod 14, two side connecting rods 22 and a cross rod, the upper portion of the T-shaped rod 14 is hinged to the gait adjusting rod 15, two ends of the lower portion of the T-shaped rod 14 are hinged to one ends of the two side connecting rods 22, the other ends of the two side connecting rods 22 are hinged to two ends of the cross rod, one side connecting rod 22 is hinged to the crank connecting rod 21 and the leg rod, one end of the lower portion of the T-shaped rod 14 is connected to the two-degree-of-freedom joint motor 11, and two ends of the leg retracting electric push rod 16 are hinged to the horizontal rod 23 and the leg rod.
Furthermore, a plurality of positioning holes are arranged on the gait adjusting rod 15 at intervals along the length direction, and the T-shaped rod 14 is hinged with the gait adjusting rod 15 through different positioning holes; forming a gait adjusting function.
Further, the crank 13 is hinged to the gait adjusting lever 15 and the crank connecting rod 21 through a first pin shaft, and the leg rod is hinged to the crank connecting rod 21, the cross rod and the corresponding side rod through a second pin shaft.
Further, the wheel type mechanism 5 comprises a longitudinal arm 18 and a wheel 19, one end of the longitudinal arm 18 is connected with the frame through a rotating shaft, the other end of the longitudinal arm 18 is connected with the wheel 19, the rotating shaft is connected with a longitudinal arm joint motor 9, the longitudinal arm joint motor 9 is fixedly arranged on the corresponding frame, the longitudinal arm joint motor 9 drives the longitudinal arm to rotate around the rotating shaft, and the wheel 19 is connected with a hub motor; the trailing arm joint motor 9 can adjust the included angle between the trailing arm 18 and the vehicle body according to the vehicle speed signal fed back by the sensor, and further adjust the ground clearance of the vehicle body.
Further, the frame here includes a front frame 1 and a rear frame 2.
Furthermore, the upper end of the trailing arm 18 is provided with a through hole, the rotating shaft penetrates through the through hole, one end of the trailing arm is connected with the trailing arm joint motor 9, one end of the trailing arm is supported on the frame, the other end of the trailing arm is a disc, through holes which are uniformly distributed are formed in the circumference of the disc, and the disc is connected with the fixed end of the wheel 19 through bolts; the shell of the longitudinal arm joint motor 9 is fixed on the frame through a screw, and the output end of the longitudinal arm joint motor is connected with the rotating shaft through a coupler; the wheel 19 is driven by a hub motor, the tire is a vacuum tire, and a disc brake device is arranged on the tire; the joint motor arranged on the trailing arm adjusts the height of the vehicle body from the road surface according to different vehicle speeds, and the stability of the robot in a wheel type mode is guaranteed.
Furthermore, the middle leg mechanism 6 comprises a rotary actuator, a thigh rod, a shank rod and a middle foot part, the rotary actuator is arranged on the vehicle body and connected with the upper end of the thigh rod, the lower end of the thigh rod is hinged with the upper end of the shank rod, the middle foot part is connected with the lower end of the shank rod, a first push-pull mechanism is connected between the rotary actuator and the thigh rod, and a second push-pull mechanism is connected between the thigh rod and the shank rod.
Furthermore, the rotary actuator comprises a bracket and a middle leg joint motor 12, the middle leg joint motor 12 is fixedly arranged on the vehicle body, the output end of the middle leg joint motor 12 is connected with the bracket, one end of the thigh rod is hinged with the bracket, and the middle leg joint motor 12 drives the bracket to drive the thigh to rotate relative to the vehicle body; two ends of the first push-pull mechanism are respectively hinged with the bracket and the thigh rod, and two ends of the second push-pull mechanism are respectively hinged with the thigh rod and the shank rod.
Furthermore, the thigh rod comprises two parallel thigh plates to form a two-piece rod, a connecting rod is connected between the two thigh plates, and the first push-pull mechanism and the second push-pull mechanism are uniformly distributed between the two thigh plates; the first push-pull mechanism and the second push-pull mechanism are both intermediate electric push rods.
The device comprises a bracket, a middle leg electric push rod 20, two-piece rod pieces, a middle leg joint motor 12 and a foot 17; the bracket is connected with the output end of the middle leg joint motor 12 through a screw, and the two-piece type rod piece is hinged with the two sides of the bracket; the middle leg electric push rod 20 and the two electric push rods are respectively fixed in the middle of the two-piece type rod piece, the shell of the middle leg joint motor 12 is fixed on the frame, and the output end can drive the whole middle leg mechanism 6 to rotate at a certain angle on the side surface.
A control method adopting the wheel-leg combined robot comprises the steps that a control device 8 comprises a control system, and the control system is respectively connected with a bowing steering device 3, a leg type mechanism 4, a middle leg mechanism 6 and a wheel type mechanism 5;
further, the control system comprises an industrial personal computer and a vehicle control unit;
furthermore, the control system is connected with a camera, the camera is used for detecting the road environment in front of the robot, the road environment is divided into a flat road environment, a complex road surface and an obstacle crossing road surface, and the robot enters three different modes for different road environments, namely a wheel mode, a leg mode and an obstacle crossing mode.
The leg type mechanism 4 comprises a gait adjusting rod 15, a crank 13, a single-degree-of-freedom joint motor 10, a two-degree-of-freedom joint motor 11, a four-bar mechanism and a crank connecting rod 21, wherein the single-degree-of-freedom joint motor 10 is hinged with the upper end of a leg rod through the crank 13 through the crank connecting rod 21, the two-degree-of-freedom joint motor 11 is hinged with the upper end of the leg rod through the four-bar mechanism, two ends of the gait adjusting rod 15 are respectively hinged with the crank 13 and the four-bar mechanism, the lower end of the leg rod is connected with a foot, and a leg collecting electric push;
the control method comprises the following steps: when the robot is in a flat road environment and needs to pass through quickly, the robot selects a wheel mode to pass through, when the robot is on a complex road surface and the wheel mode cannot pass through, the robot selects a leg mode to pass through, and when the robot meets the obstacle crossing road condition needing obstacle crossing, the robot selects an obstacle crossing mode to pass through; obstacle-crossing roads include trenches, vertical obstacles, and the like.
In the wheel mode, the middle leg mechanism 6 and the leg mechanism 4 are both in a retracted state, and only four wheel mechanisms 5 land;
in the leg mode, the leg mechanism 4 is driven by only one power source 7, and the control process can be divided into the following steps: the control system controls the braking of the hub motor; the control system controls the leg-retracting electric push rod 16 of the leg-type mechanism 4 to put down and locks the push stroke of the leg-retracting electric push rod 16, and the two-degree-of-freedom joint motor 11 and the single-degree-of-freedom joint motor 10 of the leg-type mechanism 4 run cooperatively; the control system controls a longitudinal arm motor of the wheel type mechanism 5 to rotate for a certain angle, and wheels of the wheel type mechanism 5 are folded; connecting the T-shaped rod 14 of the four-bar linkage with the hole of the gait adjusting rod 15; the spline sleeve on the two-degree-of-freedom motor 11 is moved to the motor end and disconnected from the four-bar mechanism; the control system controls the single-degree-of-freedom motor to drive the leg type mechanism 4;
in the obstacle crossing mode, the leg type mechanism 4 is input by two power sources 7, and the middle leg mechanism 6 assists in crossing obstacles and disconnects the T-shaped rod 14 from the gait adjusting rod 15; the spline housing of the double-freedom-degree motor 11 is moved to the middle and connected with a four-bar mechanism; the control system controls the leg-retracting electric push rod 16 of the middle leg type mechanism 4 to be released; the vehicle control unit controls the single-degree-of-freedom motor, the double-degree-of-freedom motor and the electric push rod of the middle leg mechanism 6 to move cooperatively; encoders integrated in the single-degree-of-freedom motor 10, the double-degree-of-freedom motor 11 and the electric push rod 20 of the middle leg mechanism 6 feed back a rotating speed signal to the whole vehicle controller; and the vehicle control unit adjusts output according to the feedback signal.
The working principle of the invention is as follows: referring to fig. 1, an embodiment of the present invention provides a wheel-leg type composite robot, including a front frame 1 and a rear frame 2, a articulated steering apparatus 3, a 4-leg-type mechanism 4, a 4-leg-type mechanism 5, a 2-leg-type mechanism 6, a vehicle power source 7, and a vehicle control apparatus 8.
Furthermore, the leg mechanism 4 and the wheel mechanism 5 are installed in a matched mode, so that the switching between the leg mode and the wheel mode can be realized, and the middle leg mechanism 6 and the leg mechanism 4 move in a matched mode, so that the switching between the hexapod mode and the quadruped mode can be realized.
Further, the leg mechanism 4 adopted in this example can realize the switching between single degree of freedom and two degrees of freedom, when there is only one degree of freedom, i.e. only one power source 7 drives the leg mechanism 4 to move, the walking gait of the robot is fixed, when there are two power sources 7 driving the leg mechanism 4, the foot end track of the robot can be adjusted according to the terrain.
Further, the leg mechanism 4 used in this embodiment can adjust the amplitude of the foot end trajectory by adjusting the connecting position of the T-shaped rod 14 and the gait adjusting rod 15.
Furthermore, the middle leg mechanism 6 adopted in the embodiment can adjust the support angle of the middle leg through the two middle leg electric push rods 20 to realize stepping movement, and meanwhile, the joint motor arranged on the middle leg mechanism 6 can enable the middle leg mechanism to have a side-swinging degree of freedom, so that the robot can be prevented from side-turning through side support.
Referring to fig. 2, a vehicle control device according to an embodiment of the present invention includes: camera, industrial computer, vehicle control unit, sensor, 14 joint motors and 10 electric push rods.
Specifically, the camera is used for collecting environment information, sending the environment information to the industrial personal computer, and the industrial personal computer processes and analyzes the environment information and sends a decision signal to the vehicle control unit. The sensor is used for feeding back the rotating speed of the joint motor, the pushing stroke of the electric push rod and the rotating speed of the hub motor, and inputting a feedback signal to the whole vehicle controller. The joint motor integrates a servo motor, a speed reducer, a brake, a driver and an encoder, supports a CANOPEN communication protocol, and exchanges information with the whole vehicle controller through CAN _ H, CAN _ L. The electric push rod adjusts the speed through the PWM signal from the vehicle control unit and feeds back the push stroke of the push rod through an absolute encoder. The inner part of the hub motor is integrated with the feedback rotating speed of the encoder, the physical brake is realized through the disc brake, and information is exchanged with the whole vehicle controller through an RS485 protocol.
Referring to fig. 3 to 4, an embodiment of the present invention provides a vehicle control method, where a control logic of the method is:
the method comprises the steps that a camera collects surrounding environment information, the information is transmitted to an industrial personal computer, the industrial personal computer receives image signals, the environment information in the image signals is extracted after an image library established according to deep learning is contrasted and analyzed, and then the current road condition is judged. When the road surface is flat, the wheel mode is selected to pass, when the road surface is judged to be complex terrain, the leg mode is selected to pass, and when obstacle crossing is needed, the obstacle crossing mode is selected to pass. And then the industrial personal computer sends a control signal to the vehicle control unit according to the established environmental information, the vehicle control unit outputs the control signal to a corresponding actuator (a joint motor, an electric push rod and a hub motor), the actuator starts to work, meanwhile, the actuator feeds back a rotating speed signal to the vehicle control unit, and the vehicle control unit adjusts and outputs according to the feedback signal, so that the robot is ensured to stably advance.
Further, in the present embodiment, for each mode of steering, the steering is achieved by extending and retracting the two electric push rods in the articulated steering device 3, and simultaneously matching with the differential steering of the tire or the leg mechanism, that is, the synergistic effect of the differential steering and the mechanical steering is achieved, and the steering angle provided in the present embodiment is 20 ° left and right.
As shown in fig. 4, the embodiment of the present invention proposes a switching process between various modes, and when switching from the leg mode to the wheel mode, the control process thereof can be divided into the following steps:
s1, the vehicle control unit sends a signal to the trailing arm joint motor 9, and the trailing arm joint motor 9 starts to work;
s2, rotating the trailing arm joint motor 9 by a certain angle, and lowering the trailing arm to enable the wheels to contact the ground;
s3, the single-degree-of-freedom motor and the double-degree-of-freedom motor cooperatively rotate to lift the leg type mechanism, and meanwhile, the leg electric push rod 16 retracts the foot;
s4, the hub motor receives the speed regulation signal and starts to work;
s5, feeding back the rotating speed of the hub motor to the vehicle control unit by the rotating speed sensor, calculating the vehicle speed by the vehicle control unit according to the rotating speed, and judging whether the ground clearance of the vehicle body needs to be adjusted;
and S6, if the height of the vehicle body needs to be adjusted, the trailing arm joint motor 9 receives a signal to rotate a certain angle, and if not, the robot keeps the current posture to continue to advance.
Further, when the wheel mode is switched to the leg mode, the control flow can be divided into the following steps:
s1, sending a signal by the vehicle controller, and putting down the foot mechanism by the leg-retracting electric push rod 16;
s2, the single-degree-of-freedom and double-degree-of-freedom joint motors are cooperated with the leg lowering mechanism;
s3, the vehicle control unit sends out a signal, and the trailing arm joint motor 9 rotates for a certain angle to fold the trailing arm;
s4, connecting the T-shaped rod 14 with the gait adjusting rod 15;
s5, moving the spline housing, and disconnecting the power source of the double-freedom-degree motor;
and S6, starting the single-degree-of-freedom joint motor 10, and driving the leg type mechanism to move by the single-degree-of-freedom motor.
Further, when the legged mode is switched to the obstacle crossing mode, the control flow can be divided into the following steps:
s1, the electric push rod of the middle leg mechanism receives the signal and puts down the middle leg to the supporting ground;
s2, disconnecting the T-shaped rod 14 from the gait adjusting rod 15;
s3, moving the spline housing to connect the power source of the joint motor with two degrees of freedom;
and S4, the single-degree-of-freedom and double-degree-of-freedom joint motor and the electric push rod of the middle leg mechanism are used as executing pieces to cooperatively move.
The above is only a preferred embodiment of the present invention, and certainly, the scope of the present invention should not be limited thereby, and therefore, the present invention is not limited by the scope of the claims.
Claims (10)
1. The utility model provides a wheel leg combined type robot, a serial communication port, including preceding frame, the back frame, the waist turns to the device, 4 leg mechanisms, 2 well leg mechanisms, power supply and controlling means, preceding frame turns to device and back connected to the frame through the waist, 2 leg mechanisms arrange in the both sides of preceding frame, 2 leg mechanisms arrange in the both sides of back frame in addition, 2 well leg mechanisms arrange respectively in the front end of preceding frame and the rear end of back frame, power supply and controlling means turn to the device with the waist, leg mechanism and well leg mechanism are connected, preceding frame and back frame bottom equipartition have been put two wheeled mechanisms.
2. The wheel-leg combined robot according to claim 1, wherein the articulated steering device comprises two sets of connecting plates, a rotating shaft and two telescopic push-pull rods, the two sets of connecting plates are respectively connected with the front frame and the rear frame, the rotating shaft is respectively connected with the two sets of connecting plates through bearings, the two telescopic push-pull rods are respectively arranged at the left side and the right side of the rotating shaft, and two ends of the telescopic push-pull rods are respectively connected with the two sets of connecting plates.
3. The wheel-leg combined robot according to claim 1, wherein the leg mechanism includes a gait adjustment lever, a crank, a single-degree-of-freedom joint motor, a two-degree-of-freedom joint motor, a four-bar linkage mechanism and a crank link, the single-degree-of-freedom joint motor is hinged to an upper end of the leg lever through the crank link, the two-degree-of-freedom joint motor is hinged to an upper end of the leg lever through the four-bar linkage mechanism, two ends of the gait adjustment lever are respectively hinged to the crank and the four-bar linkage mechanism, a foot is connected to a lower end of the leg lever, and a leg retracting electric push rod is connected between the leg lever.
4. The wheel-leg combined robot according to claim 3, wherein the four-bar linkage comprises a T-shaped bar, two side links and a cross bar, the upper part of the T-shaped bar is hinged to the gait adjusting bar, two ends of the lower part of the T-shaped bar are respectively hinged to one end of the two side links, the other ends of the two side links are respectively hinged to two ends of the cross bar, one side link is hinged to the crank link and the leg bar, one end of the lower part of the T-shaped bar is connected to the two-degree-of-freedom joint motor, and two ends of the leg-retracting electric push rod are respectively hinged to the cross bar and the leg bar.
5. The wheel-leg composite robot as claimed in claim 4, wherein the gait adjustment lever has a plurality of positioning holes spaced apart in a longitudinal direction thereof, and the T-shaped bar is hinged to the gait adjustment lever through different positioning holes.
6. The wheel-leg composite robot as claimed in claim 4, wherein the crank is hinged to the gait-adjusting lever and the crank link at the same time by a first pin, and the leg link is hinged to the crank link, the cross bar and the corresponding side bar at the same time by a second pin.
7. The wheel-leg combined robot as claimed in claim 1, wherein the wheel mechanism includes a trailing arm and a wheel, one end of the trailing arm is connected to the frame via a rotating shaft, the other end of the trailing arm is connected to the wheel, the rotating shaft is connected to a trailing arm joint motor, the trailing arm joint motor is fixed to the frame, the trailing arm joint motor drives the trailing arm to rotate around the rotating shaft, and the wheel is connected to a wheel motor.
8. The wheel-leg combined robot according to claim 1, wherein the middle leg mechanism comprises a rotary actuator, a thigh rod, a shank rod and a middle foot part, the rotary actuator is arranged on the vehicle body and connected with the upper end of the thigh rod, the lower end of the thigh rod is hinged with the upper end of the shank rod, the middle foot part is connected with the lower end of the shank rod, a first push-pull mechanism is connected between the rotary actuator and the thigh rod, and a second push-pull mechanism is connected between the thigh rod and the shank rod.
9. The wheel-leg combined robot according to claim 8, wherein the rotary actuator comprises a bracket and a middle leg joint motor, the middle leg joint motor is fixedly arranged on the vehicle body, an output end of the middle leg joint motor is connected with the bracket, one end of the thigh rod is hinged with the bracket, and the middle leg joint motor drives the bracket to drive the thigh to rotate relative to the vehicle body; two ends of the first push-pull mechanism are respectively hinged with the bracket and the thigh rod, and two ends of the second push-pull mechanism are respectively hinged with the thigh rod and the shank rod.
10. A control method adopting the wheel-leg combined robot as claimed in claim 1, wherein the leg mechanism comprises a gait adjusting lever, a crank, a single-degree-of-freedom joint motor, a two-degree-of-freedom joint motor, a four-bar mechanism and a crank connecting rod, the single-degree-of-freedom joint motor is hinged with the upper end of the leg rod through the crank connecting rod, the two-degree-of-freedom joint motor is hinged with the upper end of the leg rod through the four-bar mechanism, two ends of the gait adjusting lever are respectively hinged with the crank and the four-bar mechanism, the lower end of the leg rod is connected with a foot, and a leg retracting electric push rod is connected between the leg rod and;
the control method comprises the following steps: when the robot is in a flat road environment and needs to pass through quickly, the robot selects a wheel mode to pass through, when the robot is on a complex road surface and the wheel mode cannot pass through, the robot selects a leg mode to pass through, and when the robot meets the obstacle crossing road condition needing obstacle crossing, the robot selects an obstacle crossing mode to pass through;
in the wheel mode, the middle leg mechanism and the leg mechanism are in a retracted state, and only four wheel mechanisms land;
in the leg mode, the leg mechanism is driven by only one power source, and the control process can be divided into the following steps: the control device controls the braking of the hub motor; the control device controls the leg type mechanism to be put down and locked, and the leg type mechanism operates; the control device controls the wheel type mechanism to retract; connecting the four-bar linkage with the hole of the gait adjusting rod; disconnecting the two-degree-of-freedom motor from the four-bar mechanism; the control device controls the single-degree-of-freedom motor to drive the leg type mechanism;
in the obstacle crossing mode, the leg type mechanism is input by two power sources, and meanwhile, the middle leg mechanism assists in obstacle crossing and disconnects the T-shaped rod from the gait adjusting rod; the spline sleeve on the two-freedom-degree motor is moved to the middle and connected with the four-bar mechanism; the control device controls the middle leg type mechanism to be put down; the vehicle control unit controls the single-degree-of-freedom motor, the double-degree-of-freedom motor and the middle leg mechanism to cooperatively move.
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