CN202006842U - Wheel-leg robot - Google Patents
Wheel-leg robot Download PDFInfo
- Publication number
- CN202006842U CN202006842U CN2011201039034U CN201120103903U CN202006842U CN 202006842 U CN202006842 U CN 202006842U CN 2011201039034 U CN2011201039034 U CN 2011201039034U CN 201120103903 U CN201120103903 U CN 201120103903U CN 202006842 U CN202006842 U CN 202006842U
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- Prior art keywords
- wheel
- thigh
- shank
- leg
- robot
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- 210000002414 leg Anatomy 0.000 claims abstract description 50
- 210000000689 upper leg Anatomy 0.000 claims abstract description 50
- 244000309466 calf Species 0.000 claims abstract 4
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000003187 abdominal effect Effects 0.000 claims 2
- 230000033001 locomotion Effects 0.000 abstract description 7
- 210000001015 abdomen Anatomy 0.000 description 6
- 244000309464 bull Species 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000005021 gait Effects 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 230000037147 athletic performance Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Abstract
本实用新型公开了一种轮腿机器人，包括机架，机架上设置有四条结构相同的具有轮、足两用功能的腿，每条腿包括大腿和绕大腿径向转动的小腿，小腿的末端设置有轮子，所述小腿上连接有用于驱动小腿前后摆动的小腿驱动装置，所述轮子上固定有用于驱动轮子转动的直流电机，所述直流电机通过固定在沿小腿径向延伸的转轴连接有用于驱动直流电机绕转轴转动的轮驱动装置，且电机的传动轴始终与转轴处于垂直状态。该机器人依靠大腿舵机带动大腿上下摆动和小腿舵机带动小腿前后摆动，共同实现该机器人的腿式行走，即使在光滑的路面也不会产生打滑，而且该机器人操作简单方便，运动动作稳定。
The utility model discloses a wheel-leg robot, which comprises a frame. Four legs with the same structure and dual-purpose functions of wheels and feet are arranged on the frame. Each leg includes a thigh and a calf that rotates radially around the thigh. The end is provided with a wheel, and the lower leg is connected with a lower leg driving device for driving the lower leg to swing back and forth, and a DC motor is fixed on the wheel for driving the wheel to rotate, and the DC motor is connected by a rotating shaft extending radially along the lower leg. There is a wheel drive device for driving the DC motor to rotate around the shaft, and the drive shaft of the motor is always in a perpendicular state to the shaft. The robot relies on the thigh servo to drive the thigh to swing up and down and the calf servo to drive the calf to swing back and forth to realize the robot's legged walking. Even on smooth roads, it will not slip. The robot is easy to operate and stable in motion.
Description
Technical field
The utility model relates to a kind of leg dual-purpose robot of taking turns, and belongs to the Robotics field.
Background technology
The advantage of legged mobile robot is can not only be on smooth ground up walks and can walking on rugged ground, can cross over the gully, up/down steps also can be done nonslipping complete sum one-way movement, and provide stable dynamic platform for the sensor on it, therefore have extensive applicability, but there is shortcoming in it, promptly difficult its stable gait planning of realization and stable equilibrium's control, the utilization ratio of kinematic velocity and energy is lower, in addition, legged mobile robot is generally heavier, and complex structure.The wheeled robot advantage is that simple to operate automatically, action is stable, is particularly suitable for moving on flat ground surface, and bigger kinematic velocity and energy utilization efficiency are arranged, and is a present widely used robotlike.But compare with legged mobile robot, its comformability to landform is relatively poor, seldom can cross over height and stair climbing.
Continuous development along with society, for solving complicated road surface walking problem, designed the robot of wheel leg conversion easily and fast, integrated wheeled robot and legged mobile robot advantage separately, simultaneously, also remedied wheeled robot and legged mobile robot shortcoming separately, had and respectively get the chief, the characteristics that remedy mutually.Application number is that 200810056851.2 patent has been announced a kind of dual-purpose mobile robot of wheel and foot, this robot adopts the wheel leg in conjunction with mode of motion, comprise frame, the frame bilateral symmetry be equipped with four structures identical have a wheel, the leg of foot double-purpose functional, every leg comprises thigh and shank, the two ends of thigh are positioned at femoribus internus and are rotatably equipped with two bull wheels, the bull wheel that is positioned at robot interior connects by transmission shaft, transmission shaft is connected with propulsion source, be positioned on every leg on the exterior bull wheel of robot and be rotatably equipped with shank, the end of shank is rotatably equipped with steamboat, steamboat is provided with the electromagnetic brake that is used to control the driven or spline of steamboat, this robot is taken turns the leg mode switch by the power-transfer clutch on the transmission shaft, and above-mentioned bull wheel and steamboat all rotate around each self-corresponding rotating shaft that leg radially extends.When switching to the work of leg formula, thigh and frame keep certain angle, shank pivots to move and realizes the walking of robot then, this walking manner skids easily on smooth road surface, and in order to prevent the rotation of steamboat, electromagnetic brake that must installation and control steamboat spline has increased the cost of robot.
The utility model content
The purpose of this utility model provides a kind of robot leg of taking turns, and in order to solve the wheel robot leg problem of slip takes place easily when switching to the work of leg formula.
The utility model adopts following technical scheme: a kind of robot leg of taking turns, comprise frame, frame be provided with four structures identical have a wheel, the leg of foot double-purpose functional, every leg comprises thigh and the shank that radially rotates around thigh, the end of shank is provided with wheel, be connected with the shank actuating device that is used to drive the shank swing on the described shank, be fixed with on the described wheel and be used for the DC machine that wheels is rotated, described DC machine is connected with and is used to drive the wheel drive unit that DC machine rotates around the axis by being fixed on the rotating shaft of radially extending along shank, and drive axle of motor is in plumbness with rotating shaft all the time.
Described frame comprises the back plate that is positioned at the upper strata and the belly plate of lower floor, and described back plate is captiveed joint with the belly plate by pipe link, and described thigh rotates and is arranged on the back plate.
Described thigh is connected with and is used to drive the thigh actuating device that thigh horizontally rotates, and described thigh actuating device comprises the thigh steering wheel that is fixed on the frame, and described thigh is captiveed joint with the output shaft of thigh steering wheel.
Described shank actuating device comprises the shank steering wheel that is fixed on the described thigh, and the output shaft of shank steering wheel is hinged by shank quadric linkage and shank.
Described wheel drive unit comprises the wheel steering wheel that is fixed on the shank, and the output shaft of wheel steering wheel is connected with DC machine by the wheel crank rocker mechanism.
Described thigh steering wheel, shank steering wheel, wheel steering wheel all are connected with controller by the wireless interface receiving end.
Adopt the wheel robot leg of said structure, be fixed with on the wheel and be used for the DC machine that wheels is rotated, wheel steering wheel drive DC machine and wheel that dependence is arranged on the shank rotate around the rotating shaft of radially extending along shank, realize the running on wheels of this robot when turning to horizontality; When turning to vertical state, rely on the thigh steering wheel to drive thigh and swing up and down and the swing of shank steering wheel drive shank, realize the legged walking of this robot jointly.Be in the legged walking process at robot, every of robot wheel leg has been realized level and perpendicular movement, do not skid even also can not produce on smooth road surface, and this robot manipulation is simple and convenient, and athletic performance is stable.
Description of drawings
Fig. 1 is the front view of the utility model wheel robot leg embodiment;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the birds-eye view of Fig. 1;
Fig. 4 is the oblique drawing of Fig. 1;
Fig. 5 is the wheel leg structural front view of the utility model wheel robot leg;
Fig. 6 is the left view of Fig. 5.
The specific embodiment
Shown in Fig. 1-6, a kind of robot leg of taking turns of the utility model, comprise frame, frame comprises the back plate 7 that is positioned at the upper strata and the belly plate 4 of lower floor, described back plate 7 is captiveed joint with belly plate 4 by pipe link, belly plate 4 is provided with four legs with wheel, sufficient double-purpose functional that structure is identical, and every leg comprises the shank 8 that rotation is arranged on the thigh 12 on the back plate 7 and radially rotates around thigh 12.Be connected with the thigh actuating device that is used to drive the rotation of thigh 12 along continuous straight runs on the described thigh 12, this thigh actuating device comprises the thigh steering wheel 6 that is fixed on the back plate 7, and the output shaft of thigh steering wheel 6 is captiveed joint with thigh 12.Be connected with the shank actuating device that is used to drive shank 8 swings on the described shank 8, this shank actuating device comprises the shank steering wheel 5 that is fixed on the thigh 12, and the output shaft of shank steering wheel 5 is rotationally connected by shank quadric linkage 3 and shank 8.The end of described shank 8 is provided with wheel 1, be connected with on the wheel 1 and be used for the DC machine 2 that wheels 1 is rotated, this DC machine 2 is connected with and is used to control DC machine 2 11 wheel drive units that rotate around the shaft by being fixed on the rotating shaft 11 of radially extending along shank 8, and the transmission shaft of DC machine 2 is in plumbness with rotating shaft 11 all the time, this wheel drive unit comprises the wheel steering wheel 9 that is fixed on the shank 8, and the output shaft of wheel steering wheel 9 is hinged with the housing of DC machine 2 by wheel crank rocker mechanism 10.Described thigh steering wheel 6, shank steering wheel 5 and wheel steering wheel 9 all are connected with wireless interface receiving end (not shown) with controller, and the rotational angle of thigh steering wheel 6, shank steering wheel 5 and wheel steering wheel 9 is controlled by the pwm signal that computing machine produces.
It is as follows that the utility model is taken turns the wheeled working process of robot leg: as shown in Figure 1 as the initial condition of taking turns robot leg, the pwm signal that computing machine will be taken turns steering wheel 9 passes through wireless transmission, after the receiving end of wheel robot leg receives pwm signal, wheel steering wheel 9 rotates and 10 motions of driven wheel quadric linkage, make the rotating shaft 11 of DC machine 2 between wheel crank rocker mechanism 10 and DC machine 2 rotate and be in horizontality, four DC machine 2 and wheel 1 state that all is up to the standard until DC machine 2 and wheel 1.DC machine 2 is switched on and is driven wheels 1 rotation, makes the wheel robot leg have the action of wheeled robot, and moving forward and backward of robot leg taken turns in forward and reverse realization of the voltage of DC machine 2, and DC machine 2 outages are taken turns robot legs and stopped.On the contrary, the receiving end of wheel robot leg receives the computing machine pwm signal of wheel steering wheel 9 playback, and wheel steering wheel 9 drives 10 counter motions of driven wheel quadric linkage, gets back to state shown in Figure 1 until DC machine 2 and wheel 1.
The working process of the utility model wheel robot leg leg formula is as follows: as shown in Figure 1 as the initial condition of taking turns robot leg, computing machine passes through wireless transmission with the pwm signal of thigh steering wheel 6, after the receiving end of wheel robot leg receives pwm signal, thigh steering wheel 6 drives thigh 12 along continuous straight runs motions, meanwhile, computing machine passes through wireless transmission with the pwm signal of shank steering wheel 5, after the receiving end of wheel robot leg receives pwm signal, shank steering wheel 5 drives the rotating shaft swing of shank 8 between shank 8 and thigh 12, realize the walking of different gaits, left front leg for the birds-eye view of Fig. 3 steps a step forward, its step-length is relevant with the pwm signal that thigh steering wheel 5 receives, right rear leg steps a step forward subsequently, RAT steps a step forward, left back leg steps a step forward, circulation realizes the leg formula action of advancing of wheel robot leg successively, the oppositely directed leg formula action of wheel robot leg is a right rear leg backward backward, left front leg is backward backward, left back leg is backward backward, RAT is backward backward, and circulation realizes the leg formula that the retreats action of wheel robot leg successively.Back plate 7 and belly plate 4 link together four legs effectively, play the effect of frame.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201039034U CN202006842U (en) | 2011-02-11 | 2011-04-11 | Wheel-leg robot |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120036504.0 | 2011-02-11 | ||
| CN201120036504 | 2011-02-11 | ||
| CN2011201039034U CN202006842U (en) | 2011-02-11 | 2011-04-11 | Wheel-leg robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202006842U true CN202006842U (en) | 2011-10-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201039034U Expired - Fee Related CN202006842U (en) | 2011-02-11 | 2011-04-11 | Wheel-leg robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN202006842U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102180205A (en) * | 2011-02-11 | 2011-09-14 | 河南科技大学 | Robot with wheel legs |
| CN102849139A (en) * | 2012-09-28 | 2013-01-02 | 河北工业大学 | Under-actuated wheel-leg composite mechanical leg |
| CN105059420A (en) * | 2015-07-24 | 2015-11-18 | 榆林学院 | Humanoid robot capable of moving with wheels, and working method |
| CN106863278A (en) * | 2017-03-31 | 2017-06-20 | 中北大学 | A kind of PUU of wheel leg type 3 parallel connection mobile robots |
| CN114987643A (en) * | 2022-06-21 | 2022-09-02 | 上海工程技术大学 | Bionic robot capable of realizing wheel-leg two-state switching and height-width change |
-
2011
- 2011-04-11 CN CN2011201039034U patent/CN202006842U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102180205A (en) * | 2011-02-11 | 2011-09-14 | 河南科技大学 | Robot with wheel legs |
| CN102849139A (en) * | 2012-09-28 | 2013-01-02 | 河北工业大学 | Under-actuated wheel-leg composite mechanical leg |
| CN102849139B (en) * | 2012-09-28 | 2014-12-10 | 河北工业大学 | Under-actuated wheel-leg composite mechanical leg |
| CN105059420A (en) * | 2015-07-24 | 2015-11-18 | 榆林学院 | Humanoid robot capable of moving with wheels, and working method |
| CN106863278A (en) * | 2017-03-31 | 2017-06-20 | 中北大学 | A kind of PUU of wheel leg type 3 parallel connection mobile robots |
| CN106863278B (en) * | 2017-03-31 | 2023-04-18 | 中北大学 | Wheel-leg type 3-PUU parallel mobile robot |
| CN114987643A (en) * | 2022-06-21 | 2022-09-02 | 上海工程技术大学 | Bionic robot capable of realizing wheel-leg two-state switching and height-width change |
| CN114987643B (en) * | 2022-06-21 | 2023-08-08 | 上海工程技术大学 | A bionic robot that can realize two-state switching of wheels and legs and change of height, width, and width |
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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: 20111012 Termination date: 20140411 |