CN201677944U - Wheel leg composite type mobile robot platform - Google Patents

Wheel leg composite type mobile robot platform Download PDF

Info

Publication number
CN201677944U
CN201677944U CN2010202038354U CN201020203835U CN201677944U CN 201677944 U CN201677944 U CN 201677944U CN 2010202038354 U CN2010202038354 U CN 2010202038354U CN 201020203835 U CN201020203835 U CN 201020203835U CN 201677944 U CN201677944 U CN 201677944U
Authority
CN
China
Prior art keywords
wheel
leg
axle
gear
frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN2010202038354U
Other languages
Chinese (zh)
Inventor
张明路
张小俊
孙凌宇
张建华
谷德明
陈国敏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hebei University of Technology
Original Assignee
Hebei University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hebei University of Technology filed Critical Hebei University of Technology
Priority to CN2010202038354U priority Critical patent/CN201677944U/en
Application granted granted Critical
Publication of CN201677944U publication Critical patent/CN201677944U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Abstract

The utility model discloses a wheel leg composite type mobile robot platform. The robot comprises a machine frame, a front wheel leg system and a rear wheel leg system, wherein the front wheel leg system comprises a front shaft, three front wheels, a front motor, a gear rack and a front driving system; the rear wheel leg system is composed of two subsystems of a leg swinging system and a driving system, and is arranged on the rear part of the machine frame; the leg swinging system comprises a shaft frame, a rear shaft, an auxiliary shaft, two same shaft sleeves, four same rear wheel legs, two same first rear motors and a rear driving system; the driving system is separated to two left and right symmetrical and same parts, and the two parts are respectively independently driven by two same second rear motors; and each part respectively comprises a composite wheel, a chain, a pulley, a small pulley wheel and a small chain. The utility model adopts the wheel leg composite structure, has simple structure, and travels on the flat ground through the wheel method, thereby decreasing the energy consumption; the utility model travels on the complicated landscape through the wheel leg composite method, thereby enhancing the efficiency.

Description

A kind of wheel-leg combined type mobile robot platform
Technical field
The utility model relates to Robotics, is specially a kind of wheel-leg combined type mobile robot platform.
Background technology
The advantage of wheel type mobile robot platform is a high-speed and high-efficiency, and shortcoming is that the landform adaptive capacity is poor.In order to adapt to complicated terrain environment, now a lot of robots all not merely adopt wheeled travel mechanism, more are to adopt wheel shoe formula, wheel leg type or wheel to carry out composite moving mechanisms such as leg formula.Compound mobile robot platform adopts the different strategies of advancing under varying environment, greatly improved the speed of advance and the landform adaptive capacity of robot, becomes a main direction of current outdoor robot development.Mobile robot platform is a basic platform, can carry other parts such as control system, checking system and manipulator on it, can realize the function that many ordinary robots are difficult to realize.Robot platform is an independently module, and separate between other platforms, is convenient to secondary development and repacking, is of wide application.
The substantive issue that the robot moving platform system will solve is, by the working environment of robot, the technical indexs such as function that will realize are carried out comprehensive analyses, designs a kind of optimum physical construction, makes robot realize specific function.The matter of utmost importance of mobile platform system design is to determine its mode of advancing, and that the mono-mode of advancing mainly contains is wheeled, leg formula and crawler type.Mono-is advanced mode owing to can not satisfy the requirement of complex-terrain, thereby now mostly adopts the two or more compound modes of advancing, and such robot platform has stronger adaptive capacity to complex-terrain.For example, novel four wheel leg type moon wheel leg structure design and analysis (Shang Weiyan etc., Wuhan University of Technology's journal (traffic science and engineering version) the 32nd volume in October, 2008 the 5th phase), (Deng is first-class for the cornering properties of wheel leg type robot and the research of control policy, machine science and technology, the 28th rolls up in February, 2009 the 2nd phase) what adopt is the wheel-leg combined type mobile platform; Again for example, wheel-track combined probe vehicles obstacle avoidance system research (Shang Weiyan etc., sensor and micro-system, the 28th 2009 the 5th phases of volume), wheel-track combined military ground location car kinematics modeling and analysis (Shang Weiyan etc., the aviation power journal, the 24th rolls up in October, 2009 the 10th phase) what adopt is wheel-track combined mobile platform; What also for example, leg was carried out analysis of composite machine people active obstacle and action planning (the 41st rolls up in May, 2009 the 5th phase for Wang Wei east etc., Harbin Institute of Technology's journal) employing is the track combined mobile platform of leg.
The existing robot leg of taking turns mainly contains following several: 1, with U.S. Sojourner mars exploration person is that the leg mobile robot is taken turns in six of representative, this robotlike can cross over and be higher than the obstacle that it takes turns the footpath, but be subjected to the restriction of its structure, wheel is less, can not cross over the obstacle that is higher than chassis height, must frequently lift the leg obstacle detouring under the complex-terrain environment, the efficient of advancing is not high, and crosses over the indifferent of pit.2, artificially represent with Tsing-Hua University's design-calculated wheel leg varistructure mobile apparatus, this robotlike can realize wheel, leg, wheel-leg combined type motion, obstacle climbing ability is also stronger, but it needs eight motors and four cardan wheels at least, power consumption is bigger, and can only do smaller, load-carrying capacity and flying power are relatively poor.3, be representative with Shanghai Communications University's triangle V shape wheel robot leg, this class machine obstacle climbing ability is stronger, control is simple, but it adopts and the identical mode of advancing of complex-terrain employing, inefficiency in smooth landform, and the chassis vibration is violent, and the robot platform life-span is not long.
The utility model content
At the deficiencies in the prior art, the technical matters that the utility model quasi-solution is determined is that a kind of wheel-leg combined type mobile robot platform is provided, this platform can satisfy the complex environment multiple requirement of work down in the open air, can realize climbing, obstacle detouring is realized steadily advancing under non-smooth landform etc.Characteristics such as under the prerequisite that realizes described functional requirement, the utility model robot platform has simple in structure, and control is easy, and it is lower to consume energy.
The technical scheme that the utility model solve the technical problem is, designs a kind of wheel-leg combined type mobile robot platform, and this robot comprises frame, anterior wheel leg system and rear portion wheel leg system,
The anterior leg system of taking turns comprises front axle, three front-wheel legs, front motor and tooth bar and Front driveline; Described front axle is installed in the front portion of frame, and two axle heads of front axle stretch out two sidewalls of frame respectively; Described three front-wheel legs comprise two preceding cincture legs and a support wheel leg, two preceding cincture leg symmetries are installed on described two axle heads, the support wheel leg is sold with the tooth bar employing in being installed in chute and is connected, chute is installed in the front end of frame, perpendicular to front axle, tooth bar is perpendicular to ground, and the support wheel leg can be done perpendicular movement up and down with respect to frame, can do 360 ° around pin simultaneously in horizontal surface and rotate freely; Described front axle connects by wheel and rack, makes support wheel leg and wheel leg realize synchronization action; Front motor is installed on the sidewall of frame, drives with front axle by Front driveline to be connected;
Rear portion wheel leg system is become by two groups of subsystems of swinging kick system and drive system, is installed on the rear portion of frame; The swinging kick system comprises pedestal, rear axle, joins axle, two identical axle sleeves, first group of rear motor that four identical trailing wheel legs are identical with two and rear driving system; Described rear axle and join axle mounting on pedestal, the two ends of rear axle kink respectively are equipped with an axle sleeve; Couple together by joining axle and rear driving system between rear axle and the axle sleeve, realize the coaxial reversing function; Between two axle sleeves with speed in the same way; Per two one group of described four wheel leg are arranged by " people " font, are installed on the two ends of rear axle and the outer end of axle sleeve respectively; A rear motor is fixed on the pedestal, and is connected with the rear axle driving by rear driving system, sets up the swinging kick system based on pedestal; Another rear motor is connected with pedestal by gear, drives whole rear portion and takes turns the rotation of leg system;
Drive system is divided into left-right symmetric, two parts that structure is identical, and two parts are respectively by two the 2nd group of identical rear motor individual drive; Every part includes combined wheels, chain, belt, small belt pulley and minor sprocket; Combined wheels comprises three parts, and front end is a sprocket wheel, and the centre is a belt pulley, and the rear end is a gear, and three partial fixings together; Described the 2nd group of rear motor meshes by the gear and the combined wheels of rear end respectively, the drive combined wheels is rotated, combined wheels drives small belt pulley by belt again and rotates, and also drives minor sprocket by chain simultaneously and rotates, and small belt pulley and minor sprocket drive its cooresponding wheel movement respectively.
Compared with prior art, the utility model robot platform adopts the wheel-leg combined type structure, only adopts five drive motor, and a cardan wheel is simple in structure, and control adopts wheeled method to advance on ground grading easily, and energy consumption significantly reduces; Adopt the wheel-leg combined type method to advance under complex-terrain, efficient greatly improves.The utility model is crossed over the pit of random length because special structural design can be crossed over the obstacle that is higher than chassis height, and can adjust the roll angle of robot, and the landform adaptive capacity is very strong.
Description of drawings
Fig. 1 is the whole three-dimensional structure scheme drawing of a kind of embodiment of the utility model wheel-leg combined type mobile robot platform.
Fig. 2 is the main TV structure scheme drawing of a kind of embodiment of the utility model wheel-leg combined type mobile robot platform.
Fig. 3 is the plan structure scheme drawing of a kind of embodiment of the utility model wheel-leg combined type mobile robot platform.
Fig. 4 is the front portion wheel leg system architecture scheme drawing of a kind of embodiment of the utility model wheel-leg combined type mobile robot platform.
Fig. 5 is the rear portion wheel leg system architecture scheme drawing of a kind of embodiment of the utility model wheel-leg combined type mobile robot platform.
Fig. 6 is the drive system of robot structural representation of a kind of embodiment of the utility model wheel-leg combined type mobile robot platform.
Fig. 7 is the coaxial reversing structural scheme of mechanism of a kind of embodiment of the utility model wheel-leg combined type mobile robot platform.
The specific embodiment
Be described in detail the utility model below in conjunction with embodiment and accompanying drawing thereof.Embodiment is to be that prerequisite is implemented with technical scheme described in the utility model, has provided detailed embodiment and process.But the claim protection domain of the utility model application is not limited to following embodiment to be described.
The utility model design-calculated wheel-leg combined type mobile robot platform is (hereinafter to be referred as robot platform, referring to Fig. 1-7) follow robot modularized design philosophy, adopt modular design, this platform mainly comprises frame 1, foreleg module or system 2 and back leg module or system 3, and back leg module 2 comprises swinging kick module or system and two subsystems of driver module or system again.Foreleg module 2 has mainly adopted gear ﹠ rack structure (referring to Fig. 4), and the swinging kick module has mainly adopted cover axle construction and coaxial reversing structure (referring to Fig. 5), and driver module has mainly adopted band chain wheel composite structure (referring to Fig. 6).Robot platform design with embodiment elaborates the utility model below.
The utility model robot platform comprises frame 1, anterior wheel leg system 2 and rear portion wheel leg system 3, has seven legs seven and takes turns (front three leg three-wheels, back four leg four-wheels) and five motors (1 of front, 2 groups 4 of back) (referring to Fig. 1-3).
Anterior wheel leg described in the utility model system comprises front axle 25, three front-wheel legs 21,21 ', 22, front motor 24 and tooth bar 26 and Front driveline; Described frame 1 is square closed-in construction, and there is square breach the front portion; Described front axle 25 is installed in the front portion (right side of Fig. 1) of frame 1, and two axle heads of front axle 25 stretch out two sidewalls of frame 1 respectively; Described three front-wheel legs comprise two preceding cincture legs 21,21 ' and support wheel leg 22, two preceding cincture legs 21,21 ' symmetries are installed on described two axle heads, support wheel leg 22 is installed in the frame 1, and adopt pin 23 to be connected with tooth bar 26 in being installed in chute 11, chute 11 is installed in the front end of frame 1, is parallel to front axle 25, on the vertical plane of tooth bar 26 tooth is arranged, the bottom is a L type structure, and front end has pin-and-hole (referring to Fig. 4).This structure of tooth bar 26 makes the position reach of wheel leg 22, has strengthened entire machine people flat-bed stationarity, avoids gear 27 again, has increased the stroke of tooth bar; Tooth bar 26 is perpendicular to floor mounted, and support wheel leg 22 can be done perpendicular movement up and down with respect to frame 1, can do 360 ° around pin 23 simultaneously in horizontal surface and rotate freely, and realizes the function of cardan wheel; Described front axle 25 is connected with tooth bar 26 by gear 27, makes support wheel leg 22 and wheel leg 21,21 ' realize synchronization action; Front motor 24 is installed on the sidewall of frame 1, be connected with front axle 25 drivings by Front driveline, when motor 24 actions, to drive front axle 25 and drive three front-wheel leg 21,21 ', 22 coordinations, its step is: when preceding cincture leg 21,21 ' is upwards swung, support wheel leg 22 stretches out motion downwards, raises frame 1, and frames 1 motion; And preceding cincture leg 21,21 ' is when lower swing, the frame 1 of then loweing, and the motion of frames 1 across obstacle, and meanwhile, support wheel leg 22 is contractile motion upwards, avoids itself and obstacle to collide, and influences the motion of frame 1.Described Front driveline is a plurality of or a series of transmission gears.
Rear portion described in the utility model is taken turns the leg system and is become by two groups of subsystems of swinging kick system and drive system, and whole rear portion is taken turns the leg system and is installed on the rear portion of frame 1; The swinging kick system comprises pedestal 36, rear axle 38, join 310, four identical trailing wheel legs of 37, two identical axle sleeves of axle 31,31 ', 32,32 ' first group rear motor 34,35 and the final drive gear system identical with two; Rear axle 38 and join axle 37 and be installed on the pedestal 36, the two ends of rear axle 38 kink respectively are equipped with an axle sleeve 310, promptly can freely rotate between axle sleeve 310 and the rear axle 38; Couple together by joining the rear driving system that axle 37 and series of gears constitute between rear axle 38 and the axle sleeve 310, make it to realize the coaxial reversing function, promptly rear axle 38 and axle sleeve 310 with respect to pedestal 36 with fast backward rotation; Between two axle sleeves 310 with speed in the same way; Take turns per two one group of leg for four, arrange by " people " font, be installed on the two ends of rear axle 38 and the outer end (referring to Fig. 3) of axle sleeve 310 respectively, the left side that the wheel leg 31 ' of embodiment, 32 ' intersection are installed in frame 1, on the end that is installed in rear axle 38, on the axle sleeve 310 that is installed in the left side; The wheel leg 31,32 of embodiment intersects and is installed on frame 1 right side, symmetrically on the other end that is installed in rear axle 38, on the axle sleeve 310 that is installed in the right side; But it should be noted that two of two ends, rear axle 38 left and right sides wheel legs one in front and one in back symmetry install, promptly one of the wheel leg at two ends, the left and right sides is to last backward; Equally, two wheel legs that are installed on two axle sleeves 310 also will one in front and one in back symmetrically be installed; A rear motor 35 is fixed on the pedestal 36, and is connected with rear axle 38 drivings by rear driving system, has so just set up the swinging kick system based on pedestal 36; Rear motor 35 is just changeing by gear driven rear axle 38 or is reversing, and two wheel legs that can drive the robot platform left and right sides are done the action of " opening " and " closing ".Because the direction that two two wheel legs of taking turns to install on leg and the axle sleeve 310 that install at rear axle 38 two ends stretch out is opposite, and rear axle 38 and axle sleeve 310 are with fast backward rotation, two groups of wheel legs of the left and right sides " opening " " closes " motion also is just in time opposite, if promptly one of the left side group of wheel leg opens, then one of the right side group of wheel leg closes, and vice versa; Another rear motor 34 is connected with pedestal 36 by gear 39, drives whole rear portion and takes turns the rotation of leg system, realizes the action of " leap ".
Drive system described in the utility model is divided into left-right symmetric, two parts that structure is identical, and two parts are respectively by two identical the 2nd group of rear motor 33 ', 33 individual drive; Every part includes combined wheels 311, chain 314, belt 313, small belt pulley 312 and minor sprocket 315; Combined wheels 311 comprises three parts, and front end is a sprocket wheel, and the centre is a belt pulley, and the rear end is a gear, and three partial fixings together; Described the 2nd group of rear motor 33 ' and 33 meshes by the gear and the combined wheels 311 of rear end respectively, driving combined wheels 311 rotates, combined wheels 311 drives small belt pulley 312 by belt 313 again and rotates, also drive minor sprocket 315 by chain 314 simultaneously and rotate, small belt pulley 312 and minor sprocket 315 drive its cooresponding wheel movement respectively; Wherein, belt 313 drives forward leg wheel motion, and chain 314 drives the leg wheel motion after leaning on.
The utility model robot platform is done when " opening " " close " action at the trailing wheel leg, and its wheel can not freely rotate according to ground-surface friction owing to be subjected to the constraint of chain 314 and belt 313.In order to reduce the relative displacement between wheel and the ground, be under the situation of 45 degree (π/4) at wheel leg initial condition, the correlation parameter design should be satisfied (1) formula and require:
R[sin(π/4+x)-sin(π/4)]≈r(k-1)x (1)
(1) in the formula, R is the wheel leg length, and r is a radius of wheel, and k is the radius ratio (perhaps the radius ratio of sprocket wheel in the combined wheels 311 and minor sprocket 315, both are identical) of belt pulley and small belt pulley 312 in the combined wheels 311, and x is the angle that the wall scroll leg is swung.
Under the situation that R, r determine, can determine the size of k value.Under the satisfied situation with co-relation of design, when the wheel leg was done the opening and closing action, wheel and ground-surface friction can drop to minimum (but can't eliminate fully).
In order further to address this problem, the utility model has been taked two methods: one, wheel drive on the wheel leg 31 and 31 ' is adopted belt-driving,, can avoid the friction problem of front-wheel because belt itself has between elasticity and belt and the belt pulley and allows to occur relative motion; They are two years old, on the chain of described trailing wheel leg, install tightening device additional, this tightening device comprises that symmetry is installed in two idler sprockets 318 of 316 li of guide grooves, two idler sprockets 318 by spring 317 tensions together, and will there be the chain 314 of certain surplus to clamp from the outside, guide groove 316 is installed in the middle part of two side wheel legs 32 and 32 ', and idler sprocket 318 can be free to slide for 316 li at guide groove.
When robot platform is advanced on non-ground grading, for fear of frequent swinging kick obstacle detouring, the wheel diameter of the utility model embodiment preliminary design is 160mm, the long 230mm of being of leg is (for the ease of installing and batch manufacturing, all wheel diameters are identical, and all leg lengths except that supporting leg 22 are identical).The length of square frame 1 is 800mm, and wide is 500mm.Front axle 25 and rear axle 38 are installed at grade, and it is 50mm apart from chassis bottom distance.When car was lower than 80mm promptly less than the obstacle of wheel diameter 1/2 in leap, wheel can directly be crossed, and does not need the swinging kick obstacle detouring.Wheel leg 21,21 ' lifts when obstacle detouring not, thus its apart from floor level more preferably greater than radius of wheel.The installation of trailing wheel leg is made as adjustable, and promptly setting angle can be regulated in 50 °~140 ° scopes between the back leg, in a single day because install, fashionable when a side leg, the opposite side leg is opened, and does the counter motion mutual restriction between the leg of both sides.Therefore splined is adopted in the installation of leg, and per 10 ° is one grade, and promptly the setting angle between the leg can be regulated with 10 ° integral multiple.The back leg setting angle of embodiment preliminary design is 90 °.
For avoiding the front-wheel leg to hinder advancing of robot platform, under the cruising, foreleg 21 and 21 ' should satisfy the requirement of (2) formula with the angle theta (referring to Fig. 2) of frame 1 vertical direction:
230·cos(π/4)-230·cosθ≥80mm (2)
Can get through calculating: θ 〉=69.65 °, get θ=75 °.In order to make tooth bar 26 that bigger stroke be arranged, the length (vertical distance of tooth bar 26 lower ends and axis wheel) of supporting leg 22 when cruising is got 100mm.Because when wheel leg 21, the swing of 21 ' cw, supporting leg 22 is motion vertically upward.For avoiding supporting leg 22 and front axle 25 to collide, the maximum moving distance that supporting leg 22 makes progress is 162.6-100-10=52.6mm (100 are the length of supporting leg 22 when cruising, and 10 is the front axle radius).In the rack-and-gear kinematic pair, distance=ratio that tooth bar moves * rotational angle, ratio are equivalent to the pitch radius of gear.The modulus of getting gear 27 is 2, and the number of teeth is 48, under the engagement of no gap, and pitch radius=reference radius=(mz)/2=48mm.Getting rotational angle is π/4, then tooth bar move apart from s=48 π/4=12 π<52.6, meet design requirement.Because tooth bar is wanted up-and-down movement, so the length of tooth bar 26 should be greater than 2 * 12 π, getting tooth bar length is 80mm.
The utility model robot platform has been created rear portion wheel leg coaxial reversing mechanism, can realize taking turns the same fast backward rotation of leg.Rear portion wheel leg coaxial reversing structure is that (referring to Fig. 7) big gear wheel 319 is fixed on the rear axle 38, and with miniature gears 320 engagements, miniature gears 320 is fixed on middle gear 321 joins on the axle 37, middle gear 321 is meshed with inner gear 322 on being fixed on axle sleeve 310; Obvious big gear wheel 319 and inner gear 322 switched in opposite, big gear wheel 319 is 3: 1 with the ratio of number of teeth of miniature gears 320, middle gear 321 is 1: 3 with the ratio of number of teeth of inner gear 322, and big gear wheel 319 and inner gear 322 just can be realized coaxially with fast backward rotation like this, have promptly realized the coaxial reversing function.Because pitch wheel has identical modulus, simultaneously for fear of the mutual interference between the physical construction, the ratio of the reference diameter of embodiment design-calculated big gear wheel 319, miniature gears 320, middle gear 321, inner gear 322 is 3: 1: 2: 6; After taking all factors into consideration, the modulus of embodiment design-calculated miniature gears 320 is 1, and the number of teeth is 20; The modulus of big gear wheel 319 is 1, and the number of teeth is 60; The modulus of middle gear 321 is 2, and the number of teeth is 20; The modulus of inner gear 322 is 2, and the number of teeth is 60.
When robot is advanced on rugged road surface, if taking place, car body tilts, robot can change the roll angle of car body by the fork angle of adjusting the left and right wheels leg, makes car body keep balance to avoid overturning.Robot can feed back control system by the mounted angle sensor, realizes adjusting in real time.The utility model design-calculated robot platform has stronger obstacle crossing ability.When robot runs into the obstacle that can't directly cross,, can cross the vertical obstacle of maximum 1.2 times of wheel diameters by the cooperation of front and back wheel leg system.Obstacle detouring principle according to robot, the high obstacle height that the embodiment robot platform can be crossed over be 230-80+80=230mm (230 for back leg long, 80 is radius of wheel), get 200mm, when promptly the height that detects obstacle when the laser sensor on the car body was greater than 200mm, robot platform taked to turn to strategy; When the height of obstacle is lower than 200mm, take the obstacle detouring strategy.Because the drive wheel of both sides is controlled respectively by two motors, steering mode is a differential steering, thereby can realize pivot stud.Through calculating, be that 60kg, safety factor are under 1.6 the situation, during the robot platform obstacle detouring in the robot gross weight, the maximum power of electrical consumption is 80W, and torque peak is 1000Nm, and its load can reach 10kg, continuation of the journey can reach 8 hours, function admirable, and field of application is very extensive.
The utility model is not addressed part and is applicable to prior art.

Claims (5)

1. wheel-leg combined type mobile robot platform, this robot platform comprise frame, anterior wheel leg system and rear portion wheel leg system;
The anterior leg system of taking turns comprises front axle, three front-wheel legs, front motor and tooth bar and Front driveline; Described front axle is installed in the front portion of frame, and two axle heads of front axle stretch out two sidewalls of frame respectively; Described three front-wheel legs comprise two preceding cincture legs and a support wheel leg, two preceding cincture leg symmetries are installed on described two axle heads, the support wheel leg is sold with the tooth bar employing in being installed in chute and is connected, chute is installed in the front end of frame, perpendicular to front axle, tooth bar is perpendicular to ground, and the support wheel leg can be done perpendicular movement up and down with respect to frame, can do 360 ° around pin simultaneously in horizontal surface and rotate freely; Described front axle connects by wheel and rack, makes support wheel leg and wheel leg realize synchronization action; Front motor is installed on the sidewall of frame, drives with front axle by Front driveline to be connected;
Rear portion wheel leg system is become by two groups of subsystems of swinging kick system and drive system, is installed on the rear portion of frame; The swinging kick system comprises pedestal, rear axle, joins axle, two identical axle sleeves, first group of rear motor that four identical trailing wheel legs are identical with two and rear driving system; Described rear axle and join axle mounting on pedestal, the two ends of rear axle kink respectively are equipped with an axle sleeve; Couple together by joining axle and rear driving system between rear axle and the axle sleeve, realize the coaxial reversing function; Between two axle sleeves with speed in the same way; Per two one group of described four wheel leg are arranged by " people " font, are installed on the two ends of rear axle and the outer end of axle sleeve respectively; A rear motor is fixed on the pedestal, and is connected with the rear axle driving by rear driving system, sets up the swinging kick system based on pedestal; Another rear motor is connected with pedestal by gear, drives whole rear portion and takes turns the rotation of leg system;
Drive system is divided into left-right symmetric, two parts that structure is identical, and two parts are respectively by two the 2nd group of identical rear motor individual drive; Every part includes combined wheels, chain, belt, small belt pulley and minor sprocket; Combined wheels comprises three parts, and front end is a sprocket wheel, and the centre is a belt pulley, and the rear end is a gear, and three partial fixings together; Described the 2nd group of rear motor meshes by the gear and the combined wheels of rear end respectively, the drive combined wheels is rotated, combined wheels drives small belt pulley by belt again and rotates, and also drives minor sprocket by chain simultaneously and rotates, and small belt pulley and minor sprocket drive its cooresponding wheel movement respectively.
2. wheel-leg combined type mobile robot platform according to claim 1 is characterized in that described trailing wheel leg is under the situation of 45 degree at initial condition, and (1) formula is satisfied in the correlation parameter design:
R[sin(π/4+x)-sin(π/4)]≈r(k-1)x (1)
(1) in the formula, R is the wheel leg length, and r is a radius of wheel, and k is belt pulley and the radius ratio of small belt pulley in the combined wheels, and x is the angle that the wall scroll leg is swung.
3. wheel-leg combined type mobile robot platform according to claim 1 and 2, it is characterized in that on the chain of described trailing wheel leg, installing tightening device additional, this tightening device comprises that symmetry is installed in two idler sprockets in the guide groove, two idler sprockets by the spring tension together, and will there be the chain of certain surplus to clamp from the outside, guide groove is installed in two side wheel midlegs, and idler sprocket can be free to slide in guide groove.
4. wheel-leg combined type mobile robot platform according to claim 1 and 2, it is characterized in that the wheel leg design of described rear portion has coaxial reversing mechanism, the structure of this mechanism is: big gear wheel is fixed on the rear axle, and and pinion, miniature gears and middle gear are fixed on joins on the axle, and middle gear is meshed the switched in opposite of big gear wheel and inner gear with inner gear on being fixed on axle sleeve, the ratio of number of teeth of big gear wheel and miniature gears is 3: 1, and the ratio of number of teeth of middle gear and inner gear is 1: 3.
5. wheel-leg combined type mobile robot platform according to claim 4, the ratio that it is characterized in that the reference diameter of described big gear wheel, miniature gears, middle gear, inner gear is 3: 1: 2: 6; The modulus of miniature gears is 1, and the number of teeth is 20; The modulus of big gear wheel is 1, and the number of teeth is 60; The modulus of middle gear is 2, and the number of teeth is 20; The modulus of inner gear is 2, and the number of teeth is 60.
CN2010202038354U 2010-05-26 2010-05-26 Wheel leg composite type mobile robot platform Expired - Fee Related CN201677944U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2010202038354U CN201677944U (en) 2010-05-26 2010-05-26 Wheel leg composite type mobile robot platform

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2010202038354U CN201677944U (en) 2010-05-26 2010-05-26 Wheel leg composite type mobile robot platform

Publications (1)

Publication Number Publication Date
CN201677944U true CN201677944U (en) 2010-12-22

Family

ID=43342999

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2010202038354U Expired - Fee Related CN201677944U (en) 2010-05-26 2010-05-26 Wheel leg composite type mobile robot platform

Country Status (1)

Country Link
CN (1) CN201677944U (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101850795A (en) * 2010-05-26 2010-10-06 河北工业大学 Wheel-leg combined type mobile robot platform
WO2012119325A1 (en) * 2011-03-07 2012-09-13 沈阳医学院 Bionic mouse moving structure for animal memory training system
CN102717845A (en) * 2012-06-04 2012-10-10 常州五王电机有限公司 Competition robot platform
CN104973124A (en) * 2015-07-13 2015-10-14 邹帆 Chassis structure of suspension frame electric vehicle
CN108995731A (en) * 2018-07-17 2018-12-14 郝成武 One kind can arbitrarily change wheel sufficient walking robot posture mechanism

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101850795A (en) * 2010-05-26 2010-10-06 河北工业大学 Wheel-leg combined type mobile robot platform
WO2012119325A1 (en) * 2011-03-07 2012-09-13 沈阳医学院 Bionic mouse moving structure for animal memory training system
CN102717845A (en) * 2012-06-04 2012-10-10 常州五王电机有限公司 Competition robot platform
CN102717845B (en) * 2012-06-04 2016-05-11 常州五王电机有限公司 Contest robot platform
CN104973124A (en) * 2015-07-13 2015-10-14 邹帆 Chassis structure of suspension frame electric vehicle
CN108995731A (en) * 2018-07-17 2018-12-14 郝成武 One kind can arbitrarily change wheel sufficient walking robot posture mechanism

Similar Documents

Publication Publication Date Title
CN101850795B (en) Wheel-leg combined type mobile robot platform
CN201677944U (en) Wheel leg composite type mobile robot platform
CN101554890B (en) Rocker-type wheel and track combining robot
CN102303655B (en) Wheel-legged combined-type robot platform
CN201760877U (en) Deformable robot travelling mechanism suitable for all landforms
CN103273977B (en) Passive self-adaption deformable continuous track type mobile robot platform
CN103407510A (en) Deformable planet wheel robot with left body and right body hinged
CN103231748B (en) Inside and outside reinforced structural type configuration-changeable obstacle crossing robot
CN106985130A (en) A kind of barrier-surpassing robot
CN203601424U (en) Planetary gear robot
CN103481956B (en) Sampling robots traveling gear
CN104787133B (en) A kind of upset arm mechanism suitable for wheel-track combined chassis
CN103029539B (en) Novel driven self-adaptive six-wheeled all-terrain mobile robot
CN106965864A (en) Wheel based on planetary gear carries out compound adaptive robot mobile platform
CN102700634A (en) Small track robot based on connecting rod mechanism
CN101214833A (en) Initiatively rocking arm variable diamond-type four-wheel lunar rover moving system
CN102826150B (en) Combined vehicle with tiltable vehicle body
CN202098476U (en) Wheel-leg combined mobile robot platform
CN100567066C (en) Combined type obstacle crossing walking system
CN206144230U (en) Can be used to carry that sweep is horizontal, longitudinal movement's mechanical device
CN106965863A (en) The wheel-track combined of mono-track can passive adaptive robot moving platform
CN209274340U (en) The full wheel synchronous dynamic in double drive source drives and turns to mobile mechanism
CN2841272Y (en) Composite moving mechanism of autonomous obstacle-surmounting robot
CN105329335A (en) Six-wheeled robot chassis and robot
CN202782681U (en) Series compensation device inspection robot mechanism

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20101222

Termination date: 20120526