CN115071856A - Wheel-leg type mobile platform and detection inspection robot with same - Google Patents
Wheel-leg type mobile platform and detection inspection robot with same Download PDFInfo
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- CN115071856A CN115071856A CN202210608264.XA CN202210608264A CN115071856A CN 115071856 A CN115071856 A CN 115071856A CN 202210608264 A CN202210608264 A CN 202210608264A CN 115071856 A CN115071856 A CN 115071856A
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- wheel
- mobile platform
- leg
- frame
- sliding table
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/18—Electric or magnetic
- F16D2121/20—Electric or magnetic using electromagnets
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a wheel-leg type mobile platform, which comprises a main vehicle body and two wheel-leg type walking parts, wherein the main vehicle body is provided with a plurality of wheels; the main vehicle body comprises a base frame, a screw rod type linear sliding table, two side rockers and two connecting rods; the screw rod type linear sliding table is connected with a base frame of the main vehicle body, and the middle part of the swing rod is pivotally connected with the sliding table of the screw rod type linear sliding table; rocker shafts of the two side rockers are respectively connected with two sides of the base frame in a pivoting way; two ends of the connecting rod are respectively connected with the side rocker and the oscillating bar through ball pairs; the wheel leg type walking part comprises a walking part frame, supporting legs, a damping element and driving wheels, and the walking part frame is connected with a rocker shaft of the main vehicle body; the two support legs are hinged with the walking part frame, gears at the upper ends of the two support legs are meshed with each other, the damping elements are connected with the two support legs, and the driving wheels are arranged at the lower ends of the support legs; the invention also provides a polling robot using the wheel-leg type mobile platform; wheel leg formula moving platform and inspection robot have good topography adaptability, trafficability characteristic and stability.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a wheel-leg type mobile platform and an inspection robot designed by using the wheel-leg type mobile platform.
Background
At present, the inspection robot is more and more widely applied in various fields. In the field of inspection in industry and mine fields, sometimes the space is narrower, and the ground is uneven, so that the mobile robot is required to have better movement flexibility, damping performance and adaptability to the undulating ground, and the posture is actively adjusted according to the ground characteristics to adapt to the ground and ensure the movement safety. Chinese patent CN101549715B discloses a rocker type four-wheeled robot, which is composed of a main box body, a differential balancer, a left rocker and a right rocker, and wheels, wherein the differential balancer connects the main box body and the left rocker and the right rocker, and the robot has the capability of passively adapting to terrain; however, the two support legs of the rocker are fixedly connected, and a damping device is not arranged, so that the damping performance is poor; the differential balancer is uncontrollable, so that the robot has instability when running on a complex ground; the robot cannot move in all directions, and has poor adaptability in a narrow space. Chinese patent CN104494721B discloses a rocker type omni-directional mobile platform based on mecanum wheels, which adopts a link balance mechanism to connect a main vehicle body and left and right rocker suspensions, and can adapt to the terrain passively, but does not adopt a damping design, and the posture of the robot cannot be adjusted actively, and the adaptability and the driving safety are slightly poor. Patent CN105109576B discloses a controllable link type differential balance device and a mobile platform with the same, wherein the link type differential balance device is provided with a locking unit which can be connected with a balance bar and can lock and release the rotation of the balance bar; but the locking can be carried out only at a certain specific position, the adaptability is slightly poor, and the external space occupied by the connecting rod type differential balancing device is larger; the mobile platform is not designed to be damped. Chinese patent CN106184468A discloses a deformation shock-absorbing walking part of a rack mechanism and a fire-fighting mobile platform with the same, wherein the walking part can realize active deformation and has shock-absorbing performance; the walking part is provided with a driving piece for driving the walking part to deform, and the structure is more complex; the mobile platform is designed for a mechanism for passive terrain adaptation. Although the walking mechanism design passively adaptive to terrain is carried out on the part of the mobile platform or the robot, the walking mechanism design does not have good performance of actively coping with complex terrain, or has slightly poor overall shock absorption performance, and does not carry out good structural design so as to facilitate assembly, maintenance and the like. For better terrain adaptability, flexibility and moving safety, the mobile platform with the shock absorption performance, which can passively adapt to undulating ground, can actively adjust the posture of the robot to ensure the safety and the adaptability of the robot, and is convenient to assemble and maintain, and the detection inspection robot with the mobile platform are very necessary.
Disclosure of Invention
The invention aims to solve the technical defects in the prior art, and provides a wheel-leg type mobile platform and a detection inspection robot with the same, wherein the wheel-leg type mobile platform has damping performance, can passively adapt to the fluctuating ground and can actively adjust the posture performance of the robot; and the important electrical equipment is installed in a centralized way, so that the assembly and the maintenance are convenient.
The invention adopts the following technical scheme:
the wheel-leg type mobile platform comprises a main vehicle body and a wheel-leg type walking part; the main vehicle body includes: a base frame; the screw rod type linear sliding table is connected with the middle part of the base frame and comprises a guide rail seat, a sliding table and a screw rod assembly, and the guide rail seat is fixedly connected with the middle part of the base frame; the sliding table is arranged on the guide rail seat; the screw rod assembly is connected with the guide rail seat and is connected with the sliding table and drives the sliding table to move along the guide rail seat; the swing rods are of a symmetrical structure, and the middle parts of the swing rods are pivotally connected with the sliding table; the two side rocking bars are arranged, one end of each side rocking bar is provided with a rocking bar shaft, and the two rocking bar shafts are coaxially arranged and are respectively connected with the two sides of the base frame in a pivoting manner; two connecting rods are arranged, one end of each connecting rod is connected with the side rocking bar through a ball pair, and the other end of each connecting rod is connected with the oscillating bar through a ball pair; the rotation controller is fixed on the sliding table and connected with the swing rod, and is used for performing rotation control on the swing rod to enable the swing rod to freely rotate or brake or drive the swing rod to rotate;
the wheel leg formula walking portion is two, two the wheel leg formula walking portion connects symmetrically the both sides of main automobile body, the wheel leg formula walking portion includes: a walking part frame detachably connected with the rocker shaft; the two support legs are hinged with the walking part frame, and the gears of the two support legs are meshed; a damping element connected to both of the legs; and the driving wheels are arranged at the lower ends of the supporting legs.
Preferably, the rotation controller is a rotation brake, and the rotation brake is fixed on the sliding table and connected with the swing rod to brake and release the swing rod.
Further preferably, the rotary brake is an electromagnetic brake, the electromagnetic brake is fixed to the sliding table, and a brake part of the electromagnetic brake is connected with the swing rod.
Preferably, the rotation controller is a rotation brake, and the rotation brake is fixed on the sliding table and connected with the swing rod to brake and release the swing rod.
Further preferably, the rotation driving and braking device comprises a speed reducing motor, and the speed reducing motor is fixed on the sliding table, is connected with the swing rod and can drive the swing rod to rotate; optionally, the rotary drive and brake further comprises an encoder and a brake; the encoder detects the rotation angle of the swing rod, and the brake brakes the speed reducing motor, so that the swing rod is braked.
Preferably, the damping element is a shock absorber which has a damping effect when compressed, the shock absorber is positioned above a pair of gears which are meshed with each other of the two support legs, and two ends of the shock absorber are respectively hinged with the support legs.
Preferably, a taper hole sleeve is arranged in the middle of the walking part frame of the wheel leg type walking part, and the taper hole sleeve of the walking part frame is connected with the rocker shaft in a taper surface manner; and one end of the rocker shaft is provided with an external conical surface shaft section and an external thread shaft section, the external conical surface shaft section of the rocker shaft is arranged in the conical hole sleeve of the walking part frame, and is in threaded connection with the external thread shaft section by adopting a nut, so that the rocker shaft is tightly connected with the conical hole sleeve of the walking part frame.
Specifically, the walking part frame of the wheel leg type walking part comprises a top plate, an inner side plate, an outer side plate and a pin shaft, wherein the top plate, the inner side plate and the outer side plate are connected into a frame shape; the inner side plate and the outer side plate are both provided with two hinge holes; pin holes are formed in the supporting legs; the two supporting legs are arranged between the inner side plate and the outer side plate, the supporting legs are hinged with the walking part frame by using the pin shaft to penetrate through the hinge holes and the pin holes on the supporting legs, and the gears at the upper ends of the two supporting legs are meshed with each other at the moment; the middle part of the inner side plate of the walking part frame is fixedly connected with the taper hole sleeve.
Preferably, the supporting leg is cylindrical, a rotary driving device is arranged in the supporting leg, and the rotary driving device is connected with the driving wheel and drives the driving wheel to rotate;
preferably, the lower end of the supporting leg is provided with a rotary driving device, and the rotary driving device is connected with the driving wheel and drives the driving wheel to rotate;
optionally, the drive wheels are Mecanum wheels, or wheel hub motors.
Preferably, the main vehicle body further includes an electric drawer provided in the base frame from one end thereof and connected with the base frame, the electric drawer including: a drawer-type frame connected with the base frame; an electrical device connected to the drawer frame; the electrical interface panel is arranged at one end of the drawer type frame and is electrically connected with the electrical equipment.
Preferably, the rocker shaft is a hollow shaft, and a cable in the rotary driving device passes through the hollow rocker shaft, is inserted into the base frame, and is electrically connected with the electrical equipment.
In addition, the invention also provides an inspection robot which comprises the wheel leg type mobile platform.
According to the technical scheme, the guide rail seat of the screw rod type linear sliding table is fixedly connected with the base frame, the swing rod is pivotally connected with the sliding table, the sliding table is driven by the screw rod assembly to move along the guide rail seat, and the swing rod moves along with the sliding table. The base frame, the lead screw type linear sliding table, the swing rod, the two side rocking rods and the two connecting rods of the main vehicle body form a space connecting rod mechanism, and the space connecting rod mechanism is distributed in a bilateral symmetry mode.
According to the technical scheme of the invention, if the rotation controller adopts a rotary brake, when the rotary brake is in a release state, the rotary brake does not play a role in braking the swing rod, and the swing rod can rotate relative to the base frame; when the swing rod is braked by the rotary brake, the swing rod cannot rotate relative to the base frame, so that the rocker shaft cannot rotate relative to the base frame.
When the rotary brake is in a release state, the sliding table of the screw rod type linear sliding table is stopped at a certain position of the guide rail seat, if the base frame is fixed, the side rocker on one side of the main vehicle body is opposite to the base frame to rock, and the side rocker on the other side is opposite to the base frame to rock reversely at the same speed. When the sliding table of the screw rod type linear sliding table stays at a certain position in the middle of the guide rail seat, the wheel leg type walking part and the rocker shaft of the main vehicle body are connected into a whole to form the wheel leg type moving platform on the premise that the top of the walking part frame of the wheel leg type walking part is parallel to the top of the main vehicle body. The two wheel leg type walking parts on the left side and the right side of the main vehicle body can be linked with the main vehicle body under the action of the space connecting rod mechanism. When the wheel-leg type moving platform is positioned on the undulating ground, the weight of the wheel-leg type moving platform is transferred to the four driving wheels of the wheel-leg type walking part at two sides under the action of the space connecting rod mechanism, so that the driving wheels are in close contact with the undulating ground. The weight of the wheel-leg type moving platform can be shared on the driving wheels of the wheel-leg type walking part on two sides uniformly, four driving wheels can be guaranteed to provide balanced friction driving force, and the driving performance of the wheel-leg type moving platform is enhanced. By adopting the technical scheme of the invention, the wheel-leg type mobile platform has the capability of passively adapting to the undulating ground, so that the wheel-leg type mobile platform has better driving performance and terrain trafficability characteristic. When the wheel-leg moving platform moves on the undulating ground, the wheel-leg walking parts on the two sides passively tilt along the undulating ground, the left and right wheel-leg walking parts deflect around the axis of the rocker shaft to form a deflection angle, and the deflection angle of the main vehicle body around the axis of the rocker shaft is approximately half of the sum of the deflection angles of the two wheel-leg walking parts under the action of the space link mechanism. Therefore, by adopting the technical scheme, when the wheel-leg type mobile platform moves on the undulating ground, the pitch angle change of the main vehicle body is small, the swing amplitude is small, and the relative balance can be kept.
According to the technical scheme of the wheel-leg type walking part, the two gears at the upper ends of the two supporting legs are meshed with each other, the damping element is arranged between the two supporting legs, and when the wheel-leg type moving platform moves on the undulating ground, the two supporting legs can synchronously swing outwards due to vibration generated by uneven ground and are subjected to the damping action of the damping element. The design scheme enables the wheel-leg type walking part to have a damping effect, and when the wheel-leg type moving platform moves on the undulating ground, the influence of the undulating ground on the main vehicle body can be reduced.
According to the technical scheme of the invention, when the sliding table of the screw rod type linear sliding table is driven by the screw rod assembly to move along the guide rail seat, the position of a component of the space link mechanism is changed. When the four driving wheels of the wheel leg type mobile platform are in contact with the ground on a flat ground, if the sliding table is driven by the screw rod assembly to move along the guide rail seat, the main vehicle body rotates around the axis of the rocker shaft, and the pitch angle of the main vehicle body is changed. If the wheel leg type mobile platform moves on the slope, the main vehicle body is kept in a horizontal state by adjusting the position of the sliding table. Wheel leg formula moving platform is when upwards climbing slope, the accessible lead screw subassembly drive the slip table moves backward, adjusts the slip table is relative the position of guide rail seat, like this, can make main automobile body front end rotates downwards, will main automobile body adjustment is the horizontality. When the wheel leg type moving platform climbs down the slope, the sliding table is adjusted forwards, so that the main vehicle body of the wheel leg type moving platform is parallel to the horizontal plane. By adopting the technical scheme, the lead screw type linear sliding table can be actively adjusted, and the pitch angle of the main vehicle body of the wheel leg type moving platform is enabled to have better stability.
According to the technical scheme of the invention, when the swing rod is braked by the rotary brake, the swing rod cannot rotate relative to the base frame, so that the rocker shaft cannot rotate relative to the base frame, and the two wheel leg type walking parts are fixed relative to the main vehicle body. When the rotary brake is in a braking state, the rotary brake locks the swing rod, if the wheel leg type moving platform is positioned on a high platform, at the moment, three driving wheels of the wheel leg type moving platform are in contact with the upper plane of the high platform and are supported, if the gravity center of the wheel leg type moving platform is positioned in a stable area formed by contact points of the three driving wheels, even if the fourth driving wheel of the wheel leg type moving platform is suspended when encountering a deep pit, the fourth driving wheel can not deflect downwards, and the instability and falling of the wheel leg type moving platform can be avoided. If the rotation brake is in a released state, when the wheel-leg type mobile platform moves outwards, under the action of the wheel-leg type mobile platform space connecting rod, once the fourth driving wheel moves out of the high platform and loses support, the fourth driving wheel moving out of the upper plane of the high platform falls downwards, the wheel-leg type walking part deflects, and the wheel-leg type mobile platform also falls in a turnover mode. Therefore, the wheel-leg type walking part can be locked with the main vehicle body through the rotating brake, so that the wheel-leg type mobile platform has better stability and adaptability in some occasions. According to other embodiments of the present invention, if there is no deep pit or hole on the ground of the place where the wheel-legged mobile platform is used, the robot does not have the risk of falling, and the wheel-legged mobile platform may not use the rotation brake.
According to the technical scheme of the invention, the electric drawer is arranged in the base frame from one end of the base frame, and the whole electric drawer can be pulled out of the base frame, namely the electric equipment in the electric drawer is pulled out, so that the electric drawer is convenient to assemble, overhaul and maintain; the electric interface panel of the electric drawer is arranged at one end of the drawer type frame, so that the electric drawer is convenient to use when the wheel leg type mobile platform is controlled and debugged.
According to the technical scheme of the invention, the walking part frame of the wheel leg type walking part is connected with the rocker shaft of the main vehicle body by adopting a conical surface, and the rocker shaft and the conical hole sleeve of the walking part frame are tightly squeezed by the nut, so that the two wheel leg type walking parts are respectively connected with the two rocker shafts into a whole. Because the conical surface connection is adopted, the rocker shaft and the conical hole sleeve are tightly connected, and a radial gap cannot be generated; and when the walking part frame is connected, the relative swing angle between the walking part frame and the main vehicle body is convenient to adjust. According to an optional technical scheme of the invention, the rocker shaft is a hollow shaft, and a cable of the driving motor passes through the hollow rocker shaft and is connected into the base frame to be electrically connected with the electrical equipment, so that the wheel leg type walking part is simpler, and no cable is exposed outside; if the base frame is of a shell type, a cable hole penetrating through the driving motor does not need to be formed in the shell.
According to the technical scheme of the embodiment of the invention, the supporting leg is cylindrical, the rotary driving device is arranged in the supporting leg, and the rotary driving device is connected with the driving wheel and drives the driving wheel to rotate, so that the structure of the supporting leg is simpler, and the rotary driving device is protected by the supporting leg. According to other embodiments of the present invention, the leg is not cylindrical, and the rotation driving device is mounted at the lower end of the leg, wherein the rotation driving device is connected with the driving wheel and drives the driving wheel to rotate. Specifically, optionally, the rotation driving device includes the driving motor and the speed reduction device, the driving motor is connected to the speed reduction device and drives the speed reduction device, and the speed reduction device is connected to the driving wheels and drives the driving wheels to rotate.
Optionally, when the present invention is implemented, the driving wheels of the wheel-legged mobile platform adopt mecanum wheels or wheel-hub motors, so that the present invention is more flexible in implementation and has a wider application range. When wheel leg formula moving platform adopted mecanum wheel, have the omni-directional movement performance, be applicable to the place in narrow and small space. When the wheel-legged mobile platform adopts the wheel-hub motor wheel, the structure of the supporting leg can be simplified because the wheel-hub motor wheel integrates a motor and a driving wheel.
According to an optional technical scheme of the invention, the rotation controller is a rotation driving and braking device, and is used for braking, releasing and driving the swing rod in a rotation mode. When the rotary driving and braking device is adopted in the embodiment of the invention, the rotary driving and braking device can actively drive the swing rod to rotate relative to the sliding table according to requirements, or brake the swing rod, or rotationally release the swing rod. Specifically, the rotation driving and braking device comprises a speed reducing motor, and the speed reducing motor is fixed on the sliding table and connected with the oscillating bar to drive the oscillating bar to rotate; the rotary driving and braking device also comprises an encoder and a brake; the encoder detects the rotation angle of the swing rod, and the brake brakes the speed reducing motor, so that the swing rod is braked. By adopting the technical scheme, the rotary driving and braking device normally releases the oscillating bar; when the main vehicle body of the wheel-leg type mobile platform and the wheel-leg type walking part need to be locked in position, the swing rod is braked by the rotary driving and braking device; when the swing angle and the relative pose between the main vehicle body and the wheel leg type walking part need to be actively adjusted, the swing rods are driven to rotate through the rotation driving and braking device to drive the two rocker shafts to rotate, so that the swing angle of the wheel leg type walking part connected with the rocker shafts relative to the main vehicle body is adjusted, the posture of the wheel leg type moving platform is changed, and the wheel leg type moving platform has better stability and moving safety.
According to the technical scheme, the wheel-leg type mobile platform detection inspection robot has corresponding movement performance and capability of passively adapting to terrain.
The invention has the beneficial effects that:
(1) the device has the capability of passively adapting to the terrain, and has better driving performance and terrain trafficability;
(2) the pitch angle of the main vehicle body can be adjusted through the sliding table; the gravity center position of the whole equipment can be actively adjusted, so that the equipment has better stability;
(3) the wheel-leg type walking part can be locked with the main vehicle body through the rotation controller, or the included angle between the wheel-leg type walking part and the main vehicle body is actively adjusted through the rotation controller, so that the pose of the wheel-leg type mobile platform is changed, and the mobile platform is suitable for special application places;
(4) when the wheel leg type mobile platform adopts Mecanum wheels, the equipment has the omnidirectional movement performance and is suitable for places in narrow spaces;
(5) the main vehicle body and the wheel-leg type walking part can be assembled independently and then connected together, so that the assembly of each part is facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic perspective view of a wheel-leg type mobile platform according to an embodiment of the present invention;
fig. 2 is a side view of a wheel-legged mobile platform according to an embodiment of the present invention;
fig. 3 is a top view of a wheel-legged mobile platform according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view A-A of FIG. 3;
FIG. 5 is a schematic perspective view of a main vehicle body according to a first embodiment of the present invention;
FIG. 6 is a diagram illustrating a state of the wheel-legged mobile platform moving on a rough ground according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating a state where the wheel-legged mobile platform is tilted down from the front end of the main vehicle body on a horizontal ground according to the first embodiment of the present invention;
FIG. 8 is a diagram illustrating a state of the wheel-legged mobile platform of the present invention when the front end of the main vehicle body is tilted up;
fig. 9 is a schematic view of a main vehicle body climbing an incline in a horizontal state in the wheel-legged mobile platform according to an embodiment of the present invention;
fig. 10 is a perspective view of the wheel-legged mobile platform in the state of fig. 9 according to an embodiment of the present invention;
fig. 11 is a schematic view illustrating a main vehicle body climbing down an incline in a horizontal state in the wheel-legged mobile platform according to the first embodiment of the present invention;
fig. 12 is a schematic perspective view of a wheel-legged mobile platform according to an embodiment of the present invention in the state of fig. 11;
fig. 13 is a state view of the wheel-leg type mobile platform when the rotation braking device according to the first embodiment of the present invention is applied with braking;
fig. 14 is a view showing a state of the wheel-leg type moving platform when the rotation braking device according to the first embodiment of the present invention is not applied with a braking function;
fig. 15 is a schematic view illustrating an electric drawer of a main body of a wheel-legged mobile platform according to an embodiment of the present invention when the electric drawer is pushed in;
FIG. 16 is a schematic view of the electrical drawer of the main body of the wheel-legged mobile platform of FIG. 15 as it is being extracted;
fig. 17 is a schematic perspective view of a wheel-leg type mobile platform according to a second embodiment of the present invention;
FIG. 18 is a schematic view of the rotary driving and braking device of the wheel-legged mobile platform shown in FIG. 17 in a state of being on a high platform when the driving and braking device is not activated;
FIG. 19 is a schematic view of the second embodiment of FIG. 18 with the attitude adjusted by the rotational driving and braking device;
fig. 20 is a schematic view of the wheel-legged mobile platform according to the second embodiment of the present invention, which is moved backward to a safe state based on the state shown in fig. 19;
fig. 21 is a perspective view of an inspection robot having a wheel-legged mobile platform according to the present invention.
Description of reference numerals:
1000 wheel leg type mobile platform; 2000 space linkage; 3000 rise and fall on the ground; 4000 slopes; 5000 high stands;
1. a main vehicle body;
11. a base frame;
111. a shaft seat; 112. a bearing; 113. a threaded hole;
12. a screw rod type linear sliding table;
121. a guide rail seat;
122. a screw assembly;
1221. a screw motor; 1222. a screw rod;
123. a sliding table;
124. a bolt;
13. a swing rod;
14. a side rocker;
141. a rocker shaft;
1411. an outer conical surface shaft section; 1412. an externally threaded shaft section; 1413. a rocker shaft hole;
15. a connecting rod;
151. a first ball pair; 152. a second ball pair;
16. a rotation controller;
1601. a rotation brake;
1602. rotary driving and braking device
16021. A reduction motor; 16022 a brake; 16023 an encoder;
17. an electrical drawer;
171. a drawer-type frame;
1711. a rear end cap; 1712. countersinking;
172. an electrical device;
173. an electrical interface panel;
2. a wheel-leg type walking part;
21. a traveling part frame;
211. a top plate; 212. an inner side plate; 213. an outer panel; 214. a taper hole sleeve; 215. a pin shaft; 216. a nut; 22. a support leg;
221. a gear; 222. a drive motor; 223. a reduction gear;
23. a damping element;
24. driving the wheels;
241. a first wheel; 242. a second wheel; 243. a third wheel; 244. a fourth wheel;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The wheel-leg type mobile platform can be used for designing a mobile robot, but is not limited to the design, and can be applied to a wheel-leg type transport vehicle and the like.
As shown in fig. 1 to 5, in a first embodiment of the wheel-leg type mobile platform provided by the present invention, the wheel-leg type mobile platform provided by the present invention includes: a main vehicle body 1 and a wheel-leg type traveling unit 2; the main vehicle body 1 includes: the base frame 11, the base frame 11 is in the shape of a shell; the screw rod type linear sliding table 12 is characterized in that the screw rod type linear sliding table 12 is connected with the middle part of the base frame 11, and the screw rod type linear sliding table 12 comprises a guide rail seat 121, a screw rod assembly 122 and a sliding table 123; the guide rail seat 121 is fixedly connected with the middle part of the base frame 11, and in the embodiment of the invention, the guide rail seat 121 is connected with the base frame 11 by screw threads, specifically by bolts 124; the screw rod assembly 122 is connected with the guide rail seat 121, the screw rod assembly 122 comprises a screw rod motor 1221 and a screw rod 1222, and the screw rod motor 1221 drives the screw rod 1222 to rotate; the sliding table 123 is installed on the guide rail seat 121 and is driven by the screw rod assembly 122 to move along the guide rail seat 121; the swing rod 13 is in a symmetrical structure, and the middle part of the swing rod 13 is pivotally connected with the sliding table 123; the number of the side rockers 14 is two, a rocker shaft 141 is arranged at one end of each side rocker 14, and the two rocker shafts 141 are coaxially arranged and are respectively connected with the two sides of the base frame 11 in a pivoting manner; two connecting rods 15 are provided, one end of each connecting rod 15 is connected with the side rocker 14 through a first ball pair 151, and the other end of each connecting rod 15 is connected with the oscillating rod 13 through a second ball pair 152; the rotation controller 16 is fixed on the sliding table 123 and connected with the swing rod 13, and performs rotation control on the swing rod 13 to enable the swing rod 13 to freely rotate or brake or drive the swing rod 13 to rotate;
as shown in fig. 1 and 2, the number of the wheel-legged running sections 2 according to the first embodiment of the present invention is two, the two wheel-legged running sections 2 are symmetrically connected to both sides of the main vehicle body 1, and each wheel-legged running section 2 includes: a traveling unit frame 21, the traveling unit frame 21 being detachably connected to the rocker shaft 141 of the side rocker 14; two supporting legs 22 and two supporting legs 22, wherein the upper ends of the supporting legs 22 are provided with gears 221, the two supporting legs 22 are hinged with the walking part frame 21, and the gears 221 of the two supporting legs 22 are meshed with each other; a damping element 23, the damping element 23 being connected to the two legs 22; and the driving wheels 24 are arranged at the lower ends of the supporting legs 22.
According to the first embodiment of the present invention, as shown in fig. 1 and 5, the rotation controller 16 employs a rotation brake 1601, and the rotation brake 1601 is fixed on the sliding platform 123 and connected to the swing link 13 to brake the swing link 13. Specifically, the rotary brake 1601 is an electromagnetic brake, a housing of the electromagnetic brake is fixedly connected with the sliding table 123, and a brake part of the electromagnetic brake is connected with the swing rod 13; when the electromagnetic brake is electrified, the swing rod 13 can rotate relative to the sliding table 123; when the electromagnetic brake is powered off, the swing rod 13 is braked, so that the swing rod cannot rotate relative to the sliding table 123.
According to the technical scheme of the first embodiment, as shown in fig. 1 and 5, the guide rail seat 121 of the screw rod type linear sliding table 12 is fixedly connected with the base frame 11, the swing rod 13 is pivotally connected with the sliding table 123, the sliding table 123 moves along the guide rail seat 121 under the driving of the screw rod assembly 122, and the swing rod 13 moves along with the sliding table 123. The base frame 11, the screw rod type linear sliding table 12, the swing rod 13, the two side rocking rods 14 and the two connecting rods 15 of the main vehicle body 1 form a space connecting rod mechanism 2000, and the space connecting rod mechanism 2000 is distributed in a bilateral symmetry mode. According to the technical scheme of the embodiment of the invention, when the rotary brake 1601 is in a release state, the swing rod 13 is not braked, and the swing rod 13 can rotate relative to the base frame 11; when the swing link 13 is braked by the rotary brake 1601, the swing link 13 cannot rotate relative to the base frame 11, so that the rocker shaft 141 cannot rotate relative to the base frame 11.
As shown in fig. 2, in the first embodiment of the present invention, the damping element 23 is a shock absorber, which has a damping effect when compressed, and is located above a pair of gears 221 engaged with each other of the leg 22, and two ends of the shock absorber are respectively hinged to the leg 22.
According to the first technical solution of this embodiment, when the rotary brake 1601 is in the released state, and the sliding table 123 of the screw linear sliding table 12 stays at a certain position of the rail seat 121, if the base frame 11 is fixed, the side rocker 14 on one side of the main vehicle body 1 swings relative to the base frame 11, and the side rocker 14 on the other side swings relative to the base frame 11 in the opposite direction and at the same speed. When the slide table 123 of the screw linear slide table 12 stays at a certain position in the middle of the guide rail seat 121, the wheel leg type traveling part 2 and the rocker shaft 141 of the main vehicle body 1 are connected into a whole to form the wheel leg type moving platform 1000 on the premise of ensuring that the top of the traveling part frame 21 of the wheel leg type traveling part 2 is parallel to the top of the main vehicle body 1. The two wheel-leg type traveling units 2 on the left and right sides of the main vehicle body 1 are linked with the main vehicle body 1 by the space link mechanism 2000.
As shown in fig. 6, when the wheel-leg moving platform 1000 is on the undulating ground 3000, the weight of the wheel-leg moving platform 1000 is transmitted to the four driving wheels 24 of the wheel-leg traveling units 2 on both sides by the space link mechanism 2000, and is brought into close contact with the undulating ground 3000. The load of the wheel-legged mobile platform 1000 can be shared more evenly on the driving wheels 24 of the wheel-legged walking portions 2 on both sides, so that it can be ensured that the four driving wheels 24 can provide more balanced friction driving force, and the driving performance of the wheel-legged mobile platform 1000 is enhanced. By adopting the technical scheme of the invention, the wheel-leg type mobile platform 1000 has the capability of passively adapting to the undulating ground, so that the wheel-leg type mobile platform has better driving performance and terrain trafficability.
As shown in fig. 6, when the wheel-legged mobile platform 1000 moves on the undulating floor 3000, the wheel-legged traveling units 2 on both sides are passively inclined in accordance with the undulation of the floor, and the left and right wheel-legged traveling units 2 are deflected about the axis of the rocker shaft 141 to form a deflection angle, respectively, and the deflection angle of the main vehicle body 1 about the axis of the rocker shaft 141 is approximately half the sum of the deflection angles of the two wheel-legged traveling units 2 by the action of the space link mechanism 2000. Therefore, with this technical solution, when the wheel-legged mobile platform 1000 moves on the undulating ground 3000, the change of the pitch angle of the main vehicle body 1 is small, the swing amplitude is small, and the relative balance can be maintained.
According to the technical solution of the wheel-legged walking part 2 of the embodiment of the present invention, as shown in fig. 2, the two gears 221 at the upper ends of the two support legs 22 are engaged with each other, and the damping element 23 is disposed between the two support legs 22, so that when the wheel-legged mobile platform 1000 moves on an undulating ground, the two support legs 22 can swing outwards synchronously due to the vibration generated by the uneven ground, and are damped by the damping element 23. This design provides the wheel-leg type traveling unit 2 with a shock absorbing function, and reduces the influence of the rolling ground 3000 on the main vehicle body 1 when the wheel-leg type moving platform 1000 moves on the rolling ground 3000.
According to the first technical solution of the embodiment of the present invention, when the sliding table 123 of the screw linear sliding table 12 moves along the rail seat 121 under the driving of the screw assembly 122, the positions of the components of the spatial link mechanism 2000 are changed. When the wheel-leg moving platform 1000 is on a flat ground, four driving wheels 24 are in contact with the ground, if the sliding table 123 moves along the guide rail seat 121 under the driving of the screw rod assembly 122, the main vehicle body 1 will rotate around the axis of the rocker shaft 141, and the pitch angle of the main vehicle body 1 changes. As shown in fig. 7, the wheel-leg type mobile platform 1000 is on a flat ground, and when the slide table 123 moves backward along the rail base 121 by the driving of the screw assembly 122, the main vehicle body 1 rotates clockwise about the rocker shaft 141. As shown in fig. 8, when the slide table 123 moves forward along the rail base 121 by the driving of the lead screw assembly 122, the main vehicle body 1 rotates counterclockwise about the rocker shaft 141. If the wheel-legged mobile platform 1000 moves on a slope, the main vehicle body 1 is kept horizontal by adjusting the position of the slide table 121 backward. As shown in fig. 9 and 10, when climbing the slope 4000, the wheel-leg moving platform 1000 can drive the sliding table 123 to move backward through the screw rod assembly 122, and adjust the position of the sliding table 123 relative to the guide rail seat 121, so that the front end of the main vehicle body 1 can rotate downward to adjust the main vehicle body 1 to be in a horizontal state. As shown in fig. 11 and 12, when the wheel-legged mobile platform 1000 climbs down the slope 4000, the slide table 121 is adjusted forward, so that the main vehicle body 1 of the wheel-legged mobile platform 1000 can be parallel to the horizontal plane. By adopting the technical scheme, the pitch angle of the main vehicle body 1 of the wheel leg type mobile platform 1000 can be actively adjusted through the screw rod type linear sliding table 12, so that the wheel leg type mobile platform has better stability.
According to the first technical solution of the embodiment of the present invention, when the swing link 13 is braked by the swing brake 1601, the swing link 13 cannot rotate relative to the base frame 11, so that the rocker shaft 141 cannot rotate relative to the base frame 11, and the two wheel-legged walking portions 2 are fixed relative to the main vehicle body 1. As shown in fig. 13, when the rotating brake 1601 is in a braking state, the rotating brake 1601 locks the swing link 13, and when the wheel-legged mobile platform 1000 is on a high platform 5000, at this time, three driving wheels 24 (i.e. the first wheel 241, the second wheel 242, and the third wheel 243) of the wheel-legged mobile platform 1000 are in contact with the upper plane of the high platform 5000 and supported, if the center of gravity of the wheel-legged mobile platform 1000 is within a stable region formed by contact points of the first wheel 241, the second wheel 242, and the third wheel 243, even if the fourth wheel 244 of the wheel-legged mobile platform 1000 is suspended in the air when encountering a deep pit, the fourth wheel 244 does not deflect downwards, and the wheel-legged mobile platform 1000 can be prevented from being unstable and falling. As shown in fig. 14, when the rotation brake 1601 is in a released state, the wheel-leg moving platform 1000 moves outward due to the space link of the wheel-leg moving platform 1000, and once the fourth wheel 244 moves out of the elevation 5000 and loses support, the fourth wheel 244 moving out of the upper plane of the elevation 5000 will sink downward, the wheel-leg walking part 2 will deflect, and the wheel-leg moving platform 1000 will also turn over and fall. It can be seen that the wheel-legged walking portion 2 can be locked with the main vehicle body 1 by rotating the brake 1601, so that the wheel-legged mobile platform 1000 has better stability and adaptability in some occasions. According to other embodiments of the present invention, if there is no deep pit or hole on the ground of the place where the wheel-legged mobile platform 1000 is used, the robot does not risk falling, and the wheel-legged mobile platform 1000 may not use the rotation brake 1601.
According to the first embodiment of the present invention, as shown in fig. 15 and 16, the base frame 11 is a housing, the main vehicle body 1 further includes an electrical drawer 17, the electrical drawer 17 is disposed in the base frame 11 from one end of the base frame 11 and connected to the base frame 11, the electrical drawer 17 includes: a drawer frame 171, the drawer frame 171 being connected to the base frame 11; the electrical equipment 172, the electrical equipment 172 is connected to the drawer type frame 171, the electrical equipment 172 includes a controller module, a power supply module, a communication module; an electrical interface panel 173 is provided at one end of the drawer frame 171, and the electrical interface panel 173 is electrically connected to the electrical device 172.
According to the first embodiment of the present invention, the electrical drawer 17 is connected to the base frame 11 by screws (the screws are not shown in fig. 16); a threaded hole 113 is arranged on the base frame 11, and a counter bore 1712 is arranged on the rear end cover 1711 of the drawer type frame 171 of the electric drawer 17; when the electric drawer 17 is placed in the base frame 11, the screw is connected with the threaded hole 113 through the counter bore 1712; fig. 15 shows a state where the electric drawer 17 of the wheel-legged mobile platform 1000 is connected to the base frame 11. According to the technical scheme of the invention, the electric drawer 17 is arranged in the base frame 11 from one end of the base frame, so that the whole electric drawer 17 can be pulled out from the base frame 11, as shown in fig. 16, the electric equipment 172 in the electric drawer 17 is pulled out, and the electric drawer is convenient to overhaul and maintain; the electrical interface panel 173 of the electrical drawer 17 is disposed at one end of the drawer frame 171, so as to be convenient for the control and debugging of the wheel-legged mobile platform 1000.
According to the first embodiment of the present invention, as shown in fig. 1 and 2, the walking part frame 21 of the wheel-leg walking part 2 includes a top plate 211, an inner side plate 212, an outer side plate 213, a taper hole sleeve 214 and a pin shaft 215, wherein the top plate 211, the inner side plate 212 and the outer side plate 213 are connected into a frame shape; the inner side plate 212 and the outer side plate 213 are both provided with two hinge holes; pin holes are formed in the two support legs 22; the two legs 22 are disposed between the inner side plate 212 and the outer side plate 213, and the legs 22 are hinged to the chassis 21 by using the pin 215 passing through the hinge hole and the pin hole of the legs 22, and the gears 221 at the upper ends of the two legs 22 are engaged with each other. The middle part of the inner side plate 212 of the walking part frame 21 is fixedly connected with a taper hole sleeve 214. Fig. 3 is a top view of an embodiment of the present invention, and fig. 4 is a cross-sectional view a-a of fig. 3. The connection relationship between the traveling unit frame 21 and the rocker shaft 141 can be clearly seen in fig. 4. As shown in fig. 4, the traveling unit frame 21 is connected to the rocker shaft 141 by a tapered surface; one end of the rocker shaft 141 is provided with an outer conical surface shaft section 1411 and an outer threaded shaft section 1412, the outer conical surface shaft section 1411 of the rocker shaft 141 is arranged in the conical hole sleeve 214 of the walking part frame 21, and the rocker shaft 141 and the conical hole sleeve 214 of the walking part frame 21 are tightly connected through the threaded connection of the nut 216 and the outer threaded shaft section 1412. The rocker shaft 141 is supported by a bearing 112 in a shaft seat 111 connected to a side plate of the main body 1, and the other end of the rocker shaft 141 is connected to the side rocker 14. As shown in fig. 16, according to the embodiment of the present invention, the rocker shaft 141 is a hollow shaft, and the cable of the driving motor 222 is inserted into the base frame 11 through the rocker shaft hole 1413 and electrically connected to the electrical device 172 (the cable is not drawn).
According to the first embodiment of the present invention, since the traveling unit frame 21 of the wheel-leg traveling unit 2 is connected to the rocker shaft 141 of the main vehicle body 1 by the tapered surface, the rocker shaft 141 and the tapered hole sleeve 214 of the traveling unit frame 21 are tightly pressed by the nut 216, and thus the two wheel-leg traveling units 2 are connected to the two rocker shafts 141 as one body, respectively, as shown in fig. 4. Because the conical surface connection is adopted, the rocker shaft 141 and the conical hole sleeve 214 are tightly connected, and a radial gap cannot be generated; and when in connection, the relative swing angle of the walking part frame 21 and the main vehicle body 1 is convenient to adjust. According to the technical scheme of the embodiment of the invention, the rocker shaft 141 is a hollow shaft, and the cable of the driving motor 222 passes through the hollow rocker shaft 141 and is connected into the base frame 11 to be electrically connected with the electrical equipment 172, so that the wheel leg type walking part 2 is simpler and the cable is not exposed outside; the base frame 11 is of a shell type, and no hole needs to be formed in the shell.
As shown in fig. 2, according to the first embodiment of the present invention, the leg 22 is cylindrical, and a rotation driving device is disposed in the leg 22, and is connected to the driving wheel 24 to drive the wheel 24 to rotate. According to the technical solution of the embodiment of the present invention, specifically, the rotation driving device includes a driving motor 222 and a speed reducer 223, the driving motor 222 and the speed reducer 223 are arranged in the leg 22 of the speed reducer 223, and the speed reducer 223 is connected to the driving wheel 24 and drives the wheel 24 to rotate, so that the structure of the leg 22 is simpler, and the driving motor 222 and the speed reducer 223 are protected by the leg 22. According to other embodiments of the present invention, the leg 22 is not cylindrical, and the driving motor 222 is combined with the speed reducer 223 and then installed at the lower end of the leg 22, wherein the speed reducer 223 is connected to the driving wheel 24 and drives the driving wheel 24 to rotate.
The drive wheels 24 in the embodiment of the present invention are mecanum wheels 2401. According to another embodiment of the present invention, the drive wheels 24 are conventional drive wheels 2402. According to other embodiments of the present invention, the driving wheel 24 is a hub motor wheel 2403, and the lower end of the outrigger 22 is provided with the hub motor wheel 2403. The rotational drive of the hub motor wheel 2403 is integral with the rim. When the wheel-leg type mobile platform 1000 adopts the mecanum wheel 2401, the omnidirectional mobile performance is achieved, and the wheel-leg type mobile platform is suitable for places in narrow spaces. When the wheel-legged mobile platform 1000 employs a wheel-hub motor wheel, the structure of the leg 22 can be simplified because the wheel-hub motor wheel integrates a motor and a driving wheel. According to some embodiments of the present invention, the driving wheel 24 of the wheel-leg moving platform 1000 may be selected from a mecanum wheel 2401, a common driving wheel, and a hub motor wheel, so that the present invention is more flexible and has a wider application range.
According to the second embodiment of the present invention, as shown in fig. 17, 18, 19 and 20, the rotation controller 16 is a rotation driving and braking device 1602, and the rotation driving and braking device 16 is fixed on the sliding platform 123 and connected to the swing link 13 to drive the swing link 13 to rotate or brake and release the swing link 13. Specifically, in the second embodiment, the rotation driving and braking device 1602 includes a speed reducing motor 16021, and the speed reducing motor 16021 is fixed on the sliding table 123, connected to the swing link 13 and capable of driving the swing link 13 to rotate; optionally, the rotational drive and brake 1602 further includes a brake 16022 and an encoder 16023; the encoder 16023 detects the rotation angle of the swing lever 13, and the brake 16022 brakes the reduction motor 16021, thereby braking the swing lever 13. The situation of the wheel-leg type mobile platform 1000 in the second embodiment in fig. 18 is similar to the situation of the first embodiment in fig. 14, the fourth wheel 244 is suspended, because the rotational driving and braking device 1602 is adopted, the rotational driving and braking device 1602 drives the swing rod 13 to swing, so that the wheel-leg walking part 2 of the wheel-leg type mobile platform 1000 actively swings up, the fourth wheel 244 lifts up, the posture is actively adjusted, and the state of the wheel-leg type mobile platform 1000 after the posture adjustment is as shown in fig. 19; further, the driving wheels 24 of the wheel-leg type mobile platform 1000 rotate backwards to make all the driving wheels of the wheel-leg type mobile platform contact the upper plane of the high platform 5000, as shown in fig. 20, the fourth wheels 244 of the wheel-leg type mobile platform 1000 already contact the upper plane of the high platform 5000, so that the mobile platform 1000 gets rid of the trouble, is in a safe state, and ensures the moving safety of the mobile platform 1000.
In fig. 21, the inspection robot with the wheel-legged mobile platform 1000 according to the present invention is equipped with an environmental information detection sensor, a vision sensor, and the like, and has corresponding performance, and can be used for performing inspection tasks, as well as detection tasks and the like.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A wheel-legged mobile platform, characterized in that wheel-legged mobile platform includes:
a main vehicle body, the main vehicle body comprising:
a base frame;
screw rod formula sharp slip table, screw rod formula sharp slip table with the bed frame middle part links to each other, screw rod formula sharp slip table includes:
the guide rail seat is fixedly connected with the middle part of the base frame;
the sliding table is arranged on the guide rail seat;
the screw rod assembly is connected with the guide rail seat, is connected with the sliding table and drives the sliding table to move along the guide rail seat;
the swing rods are of a symmetrical structure, and the middle parts of the swing rods are pivotally connected with the sliding table;
the two side rocking bars are arranged, one end of each side rocking bar is provided with a rocking bar shaft, and the two rocking bar shafts are coaxially arranged and are respectively connected with the two sides of the base frame in a pivoting manner;
two connecting rods are arranged, one end of each connecting rod is connected with the side rocking bar through a ball pair, and the other end of each connecting rod is connected with the oscillating bar through a ball pair;
the rotation controller is fixed on the sliding table and connected with the swing rod, and is used for performing rotation control on the swing rod to enable the swing rod to freely rotate or brake or drive the swing rod to rotate;
wheel leg formula walking portion, wheel leg formula walking portion is two, two wheel leg formula walking portion connects symmetrically in the both sides of main automobile body, wheel leg formula walking portion includes:
a walking part frame detachably connected with the rocker shaft;
the number of the supporting legs is two, gears are arranged at the upper ends of the supporting legs, the two supporting legs are hinged with the walking part frame, and the gears of the two supporting legs are meshed with each other;
a damping element connected to both of the legs;
and the driving wheels are arranged at the lower ends of the supporting legs.
2. The wheel-leg type mobile platform according to claim 1, wherein the rotation controller is a rotation brake, and the rotation brake is fixed on the sliding table and connected with the swing link to brake and release the swing link.
3. The wheel leg type mobile platform according to claim 2, wherein the rotary brake is an electromagnetic brake, the electromagnetic brake is fixed on the sliding table, and a brake part of the electromagnetic brake is connected with the swing rod.
4. The wheel-legged mobile platform according to claim 1, wherein the rotation controller is a rotation driving and braking device, and the rotation driving and braking device is fixed to the slide platform and connected to the swing link to apply braking, releasing and rotation driving to the swing link.
5. A wheel-legged mobile platform according to claim 1, characterized in that the damping element is a shock absorber having a damping effect when compressed, the shock absorber being located above a pair of mutually engaging gears of the two legs, and the shock absorber being hinged at its ends to the legs, respectively.
6. The wheel-legged mobile platform according to claim 1, characterized in that: the middle part of the walking part frame of the wheel leg type walking part is provided with a taper hole sleeve, and the taper hole sleeve of the walking part frame is connected with the rocker shaft by adopting a taper surface; and one end of the rocker shaft is provided with an external conical surface shaft section and an external thread shaft section, the external conical surface shaft section of the rocker shaft is arranged in the conical hole sleeve of the walking part frame, and is in threaded connection with the external thread shaft section by adopting a nut, so that the rocker shaft is tightly connected with the conical hole sleeve of the walking part frame.
7. The wheel-legged mobile platform according to claim 6, characterized in that: the walking part frame of the wheel leg type walking part comprises a top plate, an inner side plate, an outer side plate and a pin shaft, wherein the top plate, the inner side plate and the outer side plate are connected into a frame shape; the inner side plate and the outer side plate are both provided with two hinge holes; pin holes are formed in the supporting legs; the two supporting legs are arranged between the inner side plate and the outer side plate, the supporting legs are hinged with the walking part frame by using the pin shaft to penetrate through the hinge holes and the pin holes on the supporting legs, and the gears at the upper ends of the two supporting legs are meshed with each other; the middle part of the inner side plate of the walking part frame is fixedly connected with the taper hole sleeve.
8. The wheel-legged mobile platform according to claim 1, characterized in that:
the supporting leg is cylindrical, a rotary driving device is arranged in the supporting leg, and the rotary driving device is connected with the driving wheel and drives the driving wheel to rotate;
or the lower end of the supporting leg is provided with a rotary driving device which is connected with the driving wheel and drives the driving wheel to rotate;
the driving wheels adopt Mecanum wheels or wheel hub motor wheels.
9. The wheel-legged mobile platform according to claim 8, wherein the main vehicle body further includes an electrical drawer disposed within and connected to the base frame from one end thereof, the electrical drawer including:
a drawer-type frame connected with the base frame;
an electrical device connected to the drawer frame;
the electrical interface panel is arranged at one end of the drawer type frame and is electrically connected with the electrical equipment;
the rocker shaft is a hollow shaft, and a cable in the rotary driving device penetrates through the hollow rocker shaft to be connected into the base frame and is electrically connected with the electrical equipment.
10. A probe inspection robot comprising the wheel-legged mobile platform of any one of claims 1-9.
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| CN202210608264.XA CN115071856A (en) | 2022-05-31 | 2022-05-31 | Wheel-leg type mobile platform and detection inspection robot with same |
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| CN202210608264.XA CN115071856A (en) | 2022-05-31 | 2022-05-31 | Wheel-leg type mobile platform and detection inspection robot with same |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116176726A (en) * | 2023-03-23 | 2023-05-30 | 上海交通大学 | Omnidirectional moving wheel leg robot and motion control method thereof |
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| US20210323621A1 (en) * | 2019-08-15 | 2021-10-21 | Yanshan University | Active-passive differential series-parallel connection supporting leg, gravity-based closing series-parallel connection supporting leg, and six-degree-of-freedom position-adjusting robot platform |
| CN114179929A (en) * | 2021-12-31 | 2022-03-15 | 杭州电子科技大学 | Wheel-leg type stair climbing robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116176726A (en) * | 2023-03-23 | 2023-05-30 | 上海交通大学 | Omnidirectional moving wheel leg robot and motion control method thereof |
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