CN113247138A - Multi-motion mode wheel-leg separated quadruped robot - Google Patents
Multi-motion mode wheel-leg separated quadruped robot Download PDFInfo
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- CN113247138A CN113247138A CN202110661075.4A CN202110661075A CN113247138A CN 113247138 A CN113247138 A CN 113247138A CN 202110661075 A CN202110661075 A CN 202110661075A CN 113247138 A CN113247138 A CN 113247138A
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- 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 belongs to the field of robots, and particularly relates to a multi-motion-mode wheel-leg separated quadruped robot which comprises a robot body, support legs, a wheel lifting mechanism, a front wheel module, a rear wheel module, a control system, a battery energy storage module and a visual sensor, wherein the support legs are arranged on the robot body; the machine body comprises two frames, and a plurality of connecting shafts are arranged between the two frames so as to realize the connection between the front frame and the rear frame; the four support legs are respectively positioned at the left side and the right side of the two frames; the wheel and the leg are independently arranged on the vehicle body, so that the wheel-leg type robot has the speed characteristic of a wheel type robot and the stability characteristic of a leg type robot, is simple in structure, easy to machine and manufacture, simple in wheel-leg switching and high in bearing capacity, the obstacle crossing capacity of the robot is effectively enhanced, the utilization rate of energy is relatively high, and the work adaptability of the robot is greatly improved.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a multi-motion-mode wheel-leg separated quadruped robot.
Background
In the world, the research and development level and the design level of the robot become another important index for measuring the science and technology level of a country. The mobile robot, one of the robots, has been gradually involved in industrial and agricultural production and service industry through years of development.
In the research field of the quadruped robot, the wheel-foot hybrid robot is a hot spot of research in the field. The wheeled robot has the advantage of rapid movement on a flat ground, but has the disadvantage of poor obstacle crossing capability and is not suitable for working on complex terrains. The legged robot has an animal gait movement mode, has the capability of crossing obstacles in the true sense, can work on complex terrains such as mountainous regions, sand pits and the like, but has the defects of low energy utilization rate and low movement speed; therefore, it is very important to develop a leg-wheel hybrid robot combining the advantages of leg type and wheel type. Wheel-legged robot mainly divides into structurally: wheel leg tandem type and wheel leg deformation type. Wheel leg tandem type: the wheels are fixed at the ends of the legs, serving as foot ends. Such a robot: the obstacle crossing performance is more outstanding; the wheel leg switching process is relatively flexible; but the driving number is more, the control difficulty is relatively larger, and the abrasion to the wheel is larger. And when the leg is used for work, the wheels are always taken as loads, so that the flexibility of the leg is reduced. Wheel leg deformation: the motion mode of the robot is changed through structural deformation, and the robot has strong environmental adaptability; the movement speed is high; the structure is compact; the self weight of the robot is greatly reduced, and the wheel legs are flexibly switched. But the bearing capacity is poor, and the whole mechanical structure of the robot is relatively complex. Therefore, there is a need to develop a wheel-leg separation type robot that can effectively exhibit the advantages of a wheel type robot and a leg type robot.
Disclosure of Invention
The invention provides a multi-motion mode wheel-leg separation type quadruped robot aiming at the problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
the multi-motion-mode wheel-leg separated quadruped robot comprises a robot body, support legs, a wheel lifting mechanism, a front wheel module, a rear wheel module, a control system, a battery energy storage module and a vision sensor;
the machine body comprises two frames, and a plurality of connecting shafts are arranged between the two frames so as to realize the connection between the front frame and the rear frame;
the four support legs are respectively positioned at the left side and the right side of the two frames, each support leg comprises an arc-shaped motor frame, a thigh rod, a shank rod, a long auxiliary rotating rod, a short auxiliary rotating rod, a first driving motor, a second driving motor and a third driving motor, the first driving motor is installed on the frame, the arc-shaped motor frame is installed on an output shaft of the first driving motor, the second driving motor and the third driving motor are installed on the arc-shaped motor frame along the same axis, the thigh rod, the shank rod, the long auxiliary rotating rod and the short auxiliary rotating rod form a plane parallelogram connecting rod structure, one end of the thigh rod is fixedly connected onto the output shaft of the second driving motor, the other end of the thigh rod is rotatably connected with a reserved hole on the shank rod, the tail of the shank rod is rotatably connected with one end of the long auxiliary rotating rod, the other end of the auxiliary rotating rod is rotatably connected with one end of the short auxiliary rotating rod, the other end of the auxiliary rotating short rod is fixedly connected with an output shaft of a third driving motor;
the two groups of wheel lifting mechanisms are respectively positioned on the front side and the rear side of the machine body and used for lifting the front wheel module and the rear wheel module, each wheel lifting mechanism comprises a disc-shaped driving motor, a first bevel gear, a second bevel gear, a third bevel gear, a gear shaft, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a scissor-fork type telescopic net, the disc-shaped driving motor is arranged in the middle of the machine frame, the first bevel gear is arranged on an output shaft of the disc-shaped driving motor, the gear shaft is arranged on a gear shaft fixing frame, the gear shaft fixing frame is arranged on the machine frame, the second bevel gear and the third bevel gear are both arranged on the gear shaft and are respectively meshed and connected with the two sides of the first bevel gear, sleeves are further arranged on the gear shaft so as to realize the axial fixation of the second bevel gear and the third bevel gear, one end of the first connecting rod is fixedly connected with the second bevel gear, the other end of the first connecting rod is rotatably connected with the tail of the second connecting rod, the head of the second connecting rod is rotatably connected with the head of the third connecting rod, the middle of the third connecting rod is rotatably connected with one end of the fourth connecting rod, the other end of the fourth connecting rod is fixedly connected with the third bevel gear, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod form a plane parallelogram connecting rod structure, the tail of the third connecting rod is rotatably connected with the front wheel support or the rear wheel support, the upper end of the scissor type telescopic net is rotatably connected with the corresponding vehicle frame, and the lower end of the scissor type telescopic net is rotatably connected with the front wheel support or the rear wheel support;
the front wheel module comprises a front wheel support, a steering motor is mounted on the front wheel support, a gear is mounted on an output shaft of the steering motor, a rack is connected to one side of the gear in a meshed mode, a limit buckle is arranged at the bottom of the front wheel support to limit the rack to slide only in the limit buckle, two ends of the rack are rotatably connected with auxiliary rockers, the other ends of the auxiliary rockers are rotatably connected with one end of a V-shaped connecting rod, the middle of the V-shaped connecting rod is rotatably connected with the end portion of the front wheel support, and the other end of the V-shaped connecting rod is rotatably connected with a front wheel;
the rear wheel module comprises a rear wheel bracket and an axle, the axle is mounted on the rear wheel bracket, rear wheels are mounted at two ends of the axle, a power motor is mounted on the wheel bracket, and the power motor drives the axle to rotate through gear transmission;
the control system comprises a control board frame and a control main board, wherein the control board frame is arranged on the connecting shaft, and the control main board is arranged on the control board frame and is used for controlling a first driving motor, a second driving motor, a third driving motor, a disc-shaped driving motor, a steering motor, a power motor and a visual sensor to work;
the two groups of battery energy storage modules are respectively and correspondingly arranged on the left side and the right side of the machine body, each battery energy storage module comprises a high-density storage battery and a battery frame, the battery frames are arranged on the connecting shafts, the high-density storage batteries are placed in the battery frames, and the high-density storage batteries are used for supplying power to the control main board, the first driving motor, the second driving motor, the third driving motor, the disk-shaped driving motor, the steering motor, the power motor and the vision sensor;
the vision sensor is installed on the frame in front of the machine body and used for identifying the road condition in front.
Further, still include the electromagnetism adsorption apparatus structure, the electromagnetism adsorption apparatus structure has two sets ofly, is around the symmetry installation fuselage for adsorb No. two connecting rods after wheel elevating system lifts up, the electromagnetism adsorption apparatus structure includes magnet frame and electro-magnet, on the electro-magnet installation magnet frame, the magnet frame is installed on the connecting axle, the magnet frame is the slope setting to be convenient for increase and No. two area of contact of connecting rod.
Still further, still include spring energy storage mechanism, spring energy storage mechanism has two sets ofly, corresponds front wheel module and rear wheel module installation respectively for when wheel elevating system transfers, supplementary wheel elevating system expandes, spring energy storage mechanism includes the spring mount and draws the drag spring, the spring mount is installed at the middle part of connecting axle, and is close to the setting of disk drive motor, draw the one end of dragging the spring and be connected with the spring mount, the other end is connected on the articulated shaft of No. two connecting rods and No. three connecting rods.
Compared with the prior art, the invention has the following advantages:
the wheel and the leg are independently arranged on the vehicle body, so that the wheel-leg type robot has the speed characteristic of a wheel type robot and the stability characteristic of a leg type robot, is simple in structure, easy to machine and manufacture, simple in wheel-leg switching and high in bearing capacity, the obstacle crossing capacity of the robot is effectively enhanced, the utilization rate of energy is relatively high, and the work adaptability of the robot is greatly improved.
Drawings
FIG. 1 is a schematic structural view of a leg configuration of the present invention;
FIG. 2 is a schematic structural view of a wheel configuration of the present invention;
FIG. 3 is a schematic structural view of the fuselage of the present invention;
FIG. 4 is a schematic structural view of a leg of the present invention;
FIG. 5 is a schematic structural view of the wheel lift mechanism of the present invention;
FIG. 6 is a schematic structural view of a front wheel module of the present invention;
FIG. 7 is a schematic structural view of a front wheel module of the present invention;
FIG. 8 is a schematic structural view of a rear wheel module of the present invention;
FIG. 9 is a schematic diagram of the control system of the present invention;
FIG. 10 is a schematic diagram of the battery energy storage module of the present invention;
FIG. 11 is a schematic structural diagram of an electromagnetic absorption mechanism according to the present invention;
FIG. 12 is a schematic view of the installation of the spring energy storage mechanism of the present invention;
in the figure, a machine body-1, a supporting leg-2, a wheel lifting mechanism-3, a front wheel module-4, a rear wheel module-5, a control system-6, a battery energy storage module-7, a vision sensor-8, an electromagnetic adsorption mechanism-9, a spring energy storage mechanism-10, a frame-101, a connecting shaft-102, an arc motor frame-201, a thigh rod-202, a shank rod-203, an auxiliary rotating long rod-204, an auxiliary rotating short rod-205, a first driving motor-206, a second driving motor-207, a third driving motor-208, a disk driving motor-301, a first bevel gear-302, a second bevel gear-303, a third bevel gear-304, a first connecting rod-306, a second connecting rod-307, a third connecting rod-308, a fourth connecting rod-309, a scissor type telescopic net-310, a sleeve-311, a front wheel support-401, a steering motor-402, a gear-403, a rack-404, a rack-201, a rack-302, a rack-31, a rack, the device comprises an auxiliary rocker-405, a V-shaped connecting rod-406, a front wheel-407, a limit buckle-408, a rear wheel support-501, a rear wheel-502, a power motor-503, a control plate frame-601, a control main plate-602, a high-density storage battery-701, a battery frame-702, a magnet frame-901, an electromagnet-902, a spring fixing frame-1001 and a pulling spring-1002.
Detailed Description
In order to further illustrate the technical solution of the present invention, the present invention is further illustrated by the following examples.
As shown in fig. 1 to 12, the multi-motion mode wheel-leg separated quadruped robot includes a robot body 1, legs 2, a wheel lifting mechanism 3, a front wheel module 4, a rear wheel module 5, a control system 6, a battery energy storage module 7, a vision sensor 8, an electromagnetic adsorption mechanism 9 and a spring energy storage mechanism 10;
the machine body 1 comprises two frames 101, and a plurality of connecting shafts 102 are arranged between the two frames 101 so as to realize the connection between the front frame 101 and the rear frame 101;
the four support legs 2 are respectively positioned at the left side and the right side of the two vehicle frames 101, each support leg 2 comprises an arc-shaped motor frame 201, a thigh rod 202, a shank rod 203, a long auxiliary rotating rod 204, a short auxiliary rotating rod 205, a first driving motor 206, a second driving motor 207 and a third driving motor 208, the first driving motor 206 is installed on the vehicle frames 101, the arc-shaped motor frame 201 is installed on an output shaft of the first driving motor 206, the second driving motor 207 and the third driving motor 208 are installed on the arc-shaped motor frame 201 along the same axis, the thigh rod 202, the shank rod 203, the long auxiliary rotating rod 204 and the short auxiliary rotating rod 205 form a plane parallelogram connecting rod structure, one end of the thigh rod 202 is fixedly connected to the output shaft of the second driving motor 207, the other end of the thigh rod 202 is rotatably connected with a reserved hole on the shank rod 203, and the tail of the shank rod 203 is rotatably connected with one end of the long auxiliary rotating rod 204, the other end of the long auxiliary rotating rod 204 is rotatably connected with one end of the short auxiliary rotating rod 205, and the other end of the short auxiliary rotating rod 205 is fixedly connected with an output shaft of a third driving motor 208;
the two wheel lifting mechanisms 3 are respectively positioned at the front side and the rear side of the machine body 1 and used for lifting a front wheel module 4 and a rear wheel module 5, the wheel lifting mechanisms 3 comprise a disc-shaped driving motor 301, a first bevel gear 302, a second bevel gear 303, a third bevel gear 304, a gear shaft 305, a first connecting rod 306, a second connecting rod 307, a third connecting rod 308, a fourth connecting rod 309 and a scissor type telescopic net 310, the disc-shaped driving motor 301 is arranged in the middle of the machine frame 101, the first bevel gear 302 is arranged on an output shaft of the disc-shaped driving motor 301, the gear shaft 305 is arranged on a gear shaft fixing frame 312, the gear shaft fixing frame 312 is arranged on the machine frame 101, the second bevel gear 303 and the third bevel gear 304 are both arranged on the gear shaft 305, the second bevel gear 303 and the third bevel gear 304 are respectively engaged and connected at the two sides of the first bevel gear 302, and sleeves 311 are further arranged on the gear shaft 305, so as to realize the axial fixation of the second bevel gear 303 and the third bevel gear 304, one end of the first connecting rod 306 is fixedly connected with the second bevel gear 303, the other end of the first connecting rod 306 is rotatably connected with the tail part of the second connecting rod 307, the head part of the second connecting rod 307 is rotatably connected with the head part of the third connecting rod 308, the middle part of the third connecting rod 308 is rotatably connected with one end of a fourth connecting rod 309, the other end of the fourth connecting rod 309 is fixedly connected with a third bevel gear 304, the first connecting rod 306, the second connecting rod 307, the third connecting rod 308 and the fourth connecting rod 309 form a plane parallelogram connecting rod structure, the tail part of the third connecting rod 308 is rotatably connected with the front wheel bracket 401 or the rear wheel bracket 501, the upper ends of the scissor type telescopic nets 310 are rotatably connected with the corresponding frame 101, and the lower ends of the scissor type telescopic nets 310 are rotatably connected with the front wheel supports 401 or the rear wheel supports 501;
the front wheel module 4 comprises a front wheel support 401, a steering motor 402 is mounted on the front wheel support 401, a gear 403 is mounted on an output shaft of the steering motor 402, a rack 404 is connected to one side of the gear 403 in a meshed manner, a limit buckle 408 is arranged at the bottom of the front wheel support 401 to limit the rack 404 to slide only in the limit buckle 408, two ends of the rack 404 are rotatably connected with auxiliary rockers 405, the other ends of the auxiliary rockers 405 are rotatably connected with one end of a V-shaped connecting rod 406, the middle of the V-shaped connecting rod 406 is rotatably connected with the end of the front wheel support 401, and the other end of the V-shaped connecting rod 406 is rotatably connected with a front wheel 407;
the rear wheel module 5 comprises a rear wheel bracket 501 and an axle, the axle is mounted on the rear wheel bracket 501, rear wheels 502 are mounted at two ends of the axle, a power motor 503 is mounted on the wheel bracket, and the power motor 503 drives the axle to rotate through gear transmission;
the control system 6 comprises a control board frame 601 and a control main board 602, wherein the control board frame 601 is mounted on the connecting shaft 102, and the control main board 602 is mounted on the control board frame 601 and used for controlling the operation of the first driving motor 206, the second driving motor 207, the third driving motor 208, the disc-shaped driving motor 301, the steering motor 402, the power motor 503 and the vision sensor 8;
two groups of battery energy storage modules 7 are respectively and correspondingly arranged on the left side and the right side of the machine body 1, each battery energy storage module 7 comprises a high-density storage battery 701 and a battery frame 702, each battery frame 702 is arranged on the connecting shaft 102, the high-density storage batteries 701 are arranged in the battery frames 702, and the high-density storage batteries 701 are used for supplying power to the control main board 602, the first driving motor 206, the second driving motor 207, the third driving motor 208, the disc-shaped driving motor 301, the steering motor 402, the power motor 503 and the vision sensor 8;
the vision sensor 8 is arranged on a frame 101 in front of the machine body 1 and used for identifying the road condition in front;
the two groups of electromagnetic adsorption mechanisms 9 are symmetrically arranged on the machine body 1 in a front-back manner and are used for adsorbing a second connecting rod 307 after the wheel lifting mechanism 3 is lifted up, each electromagnetic adsorption mechanism 9 comprises a magnet frame 901 and an electromagnet 902, the electromagnets 902 are arranged on the magnet frames 901, the magnet frames 901 are arranged on the connecting shaft 102, and the magnet frames 901 are arranged in an inclined manner so as to increase the contact area with the second connecting rod 307;
spring energy storage mechanism 10 has two sets ofly, corresponds the installation of front wheel module 4 and rear wheel module 5 respectively for when wheel elevating system 3 transfers, supplementary wheel elevating system 3 expandes, spring energy storage mechanism 10 includes spring mount 1001 and draws and drag spring 1002, spring mount 1001 installs at the middle part of connecting axle 102, and is close to disc drive motor 301 setting, draw the one end of pulling spring 1002 and be connected with spring mount 1001, the other end is connected on the articulated shaft of No. two connecting rods 307 and No. three connecting rods 308.
Wheel form: when the robot passes through the flat road surface, the road surface obstacle is less, for the efficiency of advancing of promotion robot, improves energy utilization, adopts wheel form work under this kind of condition. When the wheel shape works, four supporting legs are upwards folded and raised, a second driving motor drives a thigh rod to upwards rotate around a joint, a third motor drives an auxiliary rotating short rod to move, and then an auxiliary rotating long rod is driven to move, finally, a shank rod rotates around a shank joint, V-shaped upwards contraction of the thigh rod and the shank rod is realized, the supporting legs contracted at ordinary times are put down, a disc-shaped driving motor drives a first bevel gear to rotate, the rotation of the first bevel gear drives a second bevel gear and the forward and reverse rotation of the third bevel gear, the second bevel gear drives a first connecting rod, and the third bevel gear drives a fourth connecting rod to do rotary motion in opposite directions around the same shaft. The second connecting rod is driven by the first connecting rod to do plane motion, and the third connecting rod does plane motion with a tail end point motion trail as a vertical line under the constraint of the motion of the second connecting rod and the fourth connecting rod. The front wheel support and the rear wheel support are fixed at the tail end of the third connecting rod through a revolute pair, and the plane where the front wheel module and the rear wheel module are located can be displaced in the vertical direction. The planar motion of the third connecting rod brings the accompanying rotation, so that the whole connecting rod mechanism is prevented from rotating in the telescopic process, and a revolute pair is not fixed at the connecting part but is selected. A scissor type telescopic net is added at the front end to limit the rotation of the connecting rod mechanism around an axis vertical to the side surface of the machine body. When the wheel shape advances on a flat road surface, such as a road needing to be steered, the steering motor of the front wheel module is used for realizing the turning. The rack is driven to move through the forward and reverse rotation of the steering motor, then two auxiliary rockers are driven to move, one end of the V-shaped connecting rod is connected with the front wheel support through a revolute pair, the other end of the V-shaped connecting rod is driven by the auxiliary rockers to move, and therefore the other end of the V-shaped connecting rod drives the wheels to rotate around the axes of the revolute pair, the rotation of the front wheels is achieved, and the steering of the robot in a wheel form is achieved. When the wheel is put down in a wheel form to work, in the process of releasing the wheel, the deformation amount of the pulling spring is reduced from large to small, the pulling spring does positive work, the energy stored by the pulling spring is released, the utilization rate of the energy is improved, and when the front wheel is at the lowest position, the spring is still in a stretching state, so that a part of force can be shared by the disc-shaped driving motor, and the bearing capacity of the robot is improved.
Leg shape: when the robot walks on a rugged road and needs strong obstacle crossing capability, the robot adopts a leg shape, and when the robot works in the leg shape, the four legs are put down at first, and then the front wheel module and the rear wheel module are folded upwards. In the process of putting down the supporting legs, each supporting leg drives the thigh rod to rotate downwards around the joint by the second driving motor, drives the auxiliary rotating short rod by the third driving motor, then drives the auxiliary rotating long rod to move, finally enables the shank rod to rotate around the shank joint, and finally realizes that the four supporting legs support the robot. And in the process of folding the front wheel module and the rear wheel module, the disc-shaped driving motor rotates to drive the first bevel gear to rotate, and then the second bevel gear and the third bevel gear are driven to rotate positively and negatively. And the second bevel gear and the third bevel gear drive the plane parallelogram linkage mechanism to rotate, and finally the third connecting rod makes a plane motion with the tail end vertically translating upwards, so that the front wheel module and the rear wheel module are folded upwards. When the front wheel module and the rear wheel module are contracted to the specified height, the electromagnet is electrified to generate magnetic force, the second connecting rod in the plane parallelogram connecting mechanism is firmly adsorbed, and the disc-shaped driving motor can stop working at this time, so that the electric energy is saved. In the process that the front wheel module and the rear wheel module contract upwards, the pulling spring in the spring energy storage mechanism is continuously stretched, the deformation is continuously increased, the pulling spring stores energy, and the energy is released in the process that the front wheel module and the rear wheel module are placed down, so that the utilization rate of the energy is improved. When the robot inclines laterally, the supporting legs can rotate laterally by utilizing the driving motor on each supporting leg, so that the posture of the robot is adjusted and the robot is kept stable. When the robot works in a leg state, the obstacle crossing capability of the robot is greatly improved, and the robot can cross steps, gullies and the like. The front real-time road condition can be detected by the front vision sensor during the operation of the robot, so that the obstacle can be reasonably avoided.
Wheel leg compound motion mode: in this mode of motion, the legs, front wheel modules and rear wheel modules cooperate simultaneously. 1, when the robot works in a wheel shape for a long time, the leg shape can be used as an auxiliary mechanical arm of the robot to realize an obstacle crossing function; when the obstacle which cannot be crossed by the wheels is encountered, the two front legs are put down to support the ground, the front wheel module leaves the ground to cross the obstacle, the two front legs are retracted to continue to move forwards in a wheel shape, and the rear wheel module also adopts the method to cross the obstacle. 2 when the wheel morphism motion, when meetting the place ahead and have mobilizable barrier, can use the landing leg as supplementary arm and push away the barrier to both sides, guarantee the normal work of robot. 3 when the robot needs to carry a large load, in order to enhance the stability and the bearing of the robot, the supporting legs, the front wheel modules and the rear wheel modules are used for working simultaneously, the supporting legs, the front wheel modules and the rear wheel modules of the robot are positioned on the same horizontal plane, the front wheel modules and the rear wheel modules can bear part of the load, and the robot works forwards by means of the supporting legs.
The tilt motion mode is as follows: when the robot works on the inclined plane, the front wheel lifting mechanism and the rear wheel lifting mechanism can be positioned at different heights in the wheel form, so that the robot body can still be kept horizontal when the robot works on the inclined plane, and the robot works more stably.
Special motion mode: the wheel leg separating robot can fully combine the advantages of the independent wheel leg mechanism, so that the robot can still normally work when part of the structure fails in a severe environment. When a part of the robot fails, for example, when the front wheel module and the rear side leg fail, the robot can operate by matching the front leg with the rear wheel module.
While there have been shown and described what are at present considered to be the essential features and advantages of the invention, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (3)
1. Multi-motion mode wheel leg disconnect-type quadruped robot, its characterized in that: the device comprises a machine body (1), supporting legs (2), a wheel lifting mechanism (3), a front wheel module (4), a rear wheel module (5), a control system (6), a battery energy storage module (7) and a visual sensor (8);
the machine body (1) comprises two frames (101), a plurality of connecting shafts (102) are arranged between the two frames (101) so as to realize the connection between the front frame (101) and the rear frame (101);
the four support legs (2) are respectively positioned at the left side and the right side of the two vehicle frames (101), each support leg (2) comprises an arc-shaped motor frame (201), a thigh rod (202), a shank rod (203), an auxiliary rotating long rod (204), an auxiliary rotating short rod (205), a first driving motor (206), a second driving motor (207) and a third driving motor (208), the first driving motor (206) is installed on the vehicle frame (101), the arc-shaped motor frame (201) is installed on an output shaft of the first driving motor (206), the second driving motor (207) and the third driving motor (208) are installed on the arc-shaped motor frame (201) along the same axis, the thigh rod (202), the shank rod (203), the auxiliary rotating long rod (204) and the auxiliary rotating short rod (205) form a plane parallelogram connecting rod structure, one end of the thigh rod (202) is fixedly connected to the output shaft of the second driving motor (207), the other end of the thigh rod (202) is rotatably connected with a reserved hole in the shank rod (203), the tail of the shank rod (203) is rotatably connected with one end of an auxiliary long rotating rod (204), the other end of the auxiliary long rotating rod (204) is rotatably connected with one end of an auxiliary short rotating rod (205), and the other end of the auxiliary short rotating rod (205) is fixedly connected with an output shaft of a third driving motor (208);
the two groups of wheel lifting mechanisms (3) are respectively positioned on the front side and the rear side of the machine body (1) and used for lifting a front wheel module (4) and a rear wheel module (5), each wheel lifting mechanism (3) comprises a disc-shaped driving motor (301), a first bevel gear (302), a second bevel gear (303), a third bevel gear (304), a gear shaft (305), a first connecting rod (306), a second connecting rod (307), a third connecting rod (308), a fourth connecting rod (309) and a scissor type telescopic net (310), the disc-shaped driving motor (301) is arranged in the middle of the machine frame (101), the first bevel gear (302) is arranged on an output shaft of the disc-shaped driving motor (301), the gear shaft (305) is arranged on a gear shaft fixing frame (312), the gear shaft fixing frame (312) is arranged on the machine frame (101), and the second bevel gear (303) and the third bevel gear (304) are both arranged on the gear shaft (305), the second bevel gear (303) and the third bevel gear (304) are respectively connected to two sides of the first bevel gear (302) in a meshed manner, a sleeve (311) is further mounted on the gear shaft (305) to realize axial fixation of the second bevel gear (303) and the third bevel gear (304), one end of the first connecting rod (306) is fixedly connected with the second bevel gear (303), the other end of the first connecting rod (306) is rotatably connected with the tail of the second connecting rod (307), the head of the second connecting rod (307) is rotatably connected with the head of the third connecting rod (308), the middle of the third connecting rod (308) is rotatably connected with one end of the fourth connecting rod (309), the other end of the fourth connecting rod (309) is fixedly connected with the third bevel gear (304), and the first connecting rod (306), the second connecting rod (307), the third connecting rod (308) and the fourth connecting rod (309) form a plane parallel connecting rod structure, the tail part of the third connecting rod (308) is rotatably connected with the front wheel support (401) or the rear wheel support (501), the upper end of the scissor type telescopic net (310) is rotatably connected with the corresponding frame (101), and the lower end of the scissor type telescopic net (310) is rotatably connected with the front wheel support (401) or the rear wheel support (501);
the front wheel module (4) comprises a front wheel support (401), a steering motor (402) is mounted on the front wheel support (401), a gear (403) is mounted on an output shaft of the steering motor (402), a rack (404) is connected to one side of the gear (403) in a meshed mode, a limit buckle (408) is arranged at the bottom of the front wheel support (401) to limit the rack (404) to slide only in the limit buckle (408), auxiliary rockers (405) are rotatably connected to two ends of the rack (404), the other end of each auxiliary rocker (405) is rotatably connected with one end of a V-shaped connecting rod (406), the middle of each V-shaped connecting rod (406) is rotatably connected with the end of the front wheel support (401), and a front wheel (407) is rotatably connected to the other end of each V-shaped connecting rod (406);
the rear wheel module (5) comprises a rear wheel support (501) and an axle, the axle is mounted on the rear wheel support (501), rear wheels (502) are mounted at two ends of the axle, a power motor (503) is mounted on the wheel support, and the power motor (503) drives the axle to rotate through gear transmission;
the control system (6) comprises a control board frame (601) and a control main board (602), the control board frame (601) is installed on the connecting shaft (102), and the control main board (602) is installed on the control board frame (601) and used for controlling a first driving motor (206), a second driving motor (207), a third driving motor (208), a disc-shaped driving motor (301), a steering motor (402), a power motor (503) and a vision sensor (8) to work;
the energy storage device is characterized in that two groups of battery energy storage modules (7) are arranged and are respectively and correspondingly arranged on the left side and the right side of the machine body (1), each battery energy storage module (7) comprises a high-density storage battery (701) and a battery frame (702), each battery frame (702) is arranged on the connecting shaft (102), the high-density storage batteries (701) are placed in the battery frames (702), and the high-density storage batteries (701) are used for supplying power to the control main board (602), the first driving motor (206), the second driving motor (207), the third driving motor (208), the disc-shaped driving motor (301), the steering motor (402), the power motor (503) and the vision sensor (8);
the vision sensor (8) is installed on a frame (101) in front of the machine body (1) and used for identifying the road condition in front.
2. The multi-motion modality wheel-leg separated quadruped robot of claim 1, wherein: the lifting device is characterized by further comprising two groups of electromagnetic adsorption mechanisms (9), wherein the two groups of electromagnetic adsorption mechanisms (9) are symmetrically arranged on the machine body (1) front and back and used for adsorbing a second connecting rod (307) after the wheel lifting mechanism (3) is lifted, each electromagnetic adsorption mechanism (9) comprises a magnet frame (901) and an electromagnet (902), the electromagnet (902) is arranged on the magnet frame (901), the magnet frame (901) is arranged on the connecting shaft (102), and the magnet frame (901) is arranged in an inclined mode so as to increase the contact area with the second connecting rod (307).
3. The multi-motion modality wheel-leg separated quadruped robot of claim 1, wherein: still include spring energy storage mechanism (10), spring energy storage mechanism (10) have two sets ofly, correspond front wheel module (4) and rear wheel module (5) installation respectively for when wheel elevating system (3) are transferred, supplementary wheel elevating system (3) expand, spring energy storage mechanism (10) include spring mount (1001) and draw and drag spring (1002), spring mount (1001) are installed at the middle part of connecting axle (102), and are close to disc drive motor (301) and set up, draw the one end of pulling spring (1002) and be connected with spring mount (1001), and the other end is connected on the articulated shaft of No. two connecting rods (307) and No. three connecting rods (308).
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| CN114771687A (en) * | 2022-05-07 | 2022-07-22 | Oppo广东移动通信有限公司 | Robot |
| CN114940223A (en) * | 2022-05-31 | 2022-08-26 | 安徽工业大学 | Bionic frog machine |
| CN115123418A (en) * | 2022-06-30 | 2022-09-30 | 杭州云深处科技有限公司 | Wheel leg replacing mechanism and replacing method for quadruped robot |
| CN115123418B (en) * | 2022-06-30 | 2024-01-16 | 杭州云深处科技有限公司 | Wheel leg replacement mechanism and replacement method for quadruped robot |
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