CN202320578U - Wheel leg mechanism with continuously engaging gears - Google Patents
Wheel leg mechanism with continuously engaging gears Download PDFInfo
- Publication number
- CN202320578U CN202320578U CN2011204590423U CN201120459042U CN202320578U CN 202320578 U CN202320578 U CN 202320578U CN 2011204590423 U CN2011204590423 U CN 2011204590423U CN 201120459042 U CN201120459042 U CN 201120459042U CN 202320578 U CN202320578 U CN 202320578U
- Authority
- CN
- China
- Prior art keywords
- wheel
- leg
- thigh
- gear
- connecting rod
- 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
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 42
- 210000002414 leg Anatomy 0.000 claims abstract description 42
- 210000000689 upper leg Anatomy 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 239000002131 composite material Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a wheel leg mechanism with continuously engaging gears. The wheel leg mechanism is mainly applied to a mobile robot platform; functional coupling of wheel type movement and leg type movement is realized; and a control system is simplified. The mechanism mainly comprises a thigh, a shank, a wheel, a transmission gear, a connecting rod and a telescoping mechanism, wherein the upper end of the shank is hinged with the lower end of the thigh, and the lower end of the shank is fixed with the wheel; the connecting rod and the transmission gear are arranged on two legs; and driving and control motors are arranged on the thigh. Under the action of the control motor, the telescoping mechanism and the connecting rod can realize extension and shrinkage of the wheel leg to guarantee stable obstacle crossing of the mobile platform; and the wheel can continuously run during extension and shrinkage of the wheel leg, so that the continuity of the movement is guaranteed. Different extension and shrinkage combinations of four legs can realize obstacle crossing of different forms.
Description
Affiliated technical field
The utility model relates to the continuous meshing wheel leg mechanism of a kind of gear, especially relates to a kind of wheel leg mechanism that is used for mobile robot platform.
Background technology
The said leg mechanism of taking turns is mainly used in mobile robot platform, and wheel type mobile robot platform can be realized the efficient high-speed operation, but is difficult to adapt to complex-terrain, and obstacle climbing ability is poor.For overcoming this shortcoming, now a lot of mobile robot platforms adopt wheel shoe formula, wheel leg type or wheel to carry out leg formula composite moving mechanism more.Under different topographic conditions, adopt different move modes, not only guaranteed moving velocity but also improved obstacle climbing ability, become a main developing direction of robot moving platform.Can carry control, checking system or necessary actuating unit on the platform, thereby realize greater functionality.The composite moving mechanism of mobile robot platform has wide application prospect.
The wheel leg type composite moving mechanism receives people's attention with its numerous advantages, has also obtained more achievement.For example, the wheel-leg mixing mobile platform HIT-HYBTOR and the HITAN-I (Zhang Lijie, novel combined bionical wheel the-leg mechanism kinematics and dynamics research (Doctor of Engineering academic dissertation), in October, 2008) of Harbin Institute of Technology's development; A kind of leg structure (University Of Chongqing, Li Qimin etc., utility model patent, application number: 201020238542.X, on January 12nd, 2011) of taking turns; Again for example, a kind of wheel-leg combined type mobile robot platform (Hebei University of Technology, Zhang Minglu etc., utility model patent, application number: on December 22nd, 201020203835.4,2010); Also for example, wheel leg mixing mobile robot mechanism design and analysis (Inner Mongol University of Technology, Liu Yongsheng etc., machine design and manufacturing, in January, 2011, the first phase).
Existing movable robot with wheel legs has following characteristic: 1, structural " the wheel leg is compound ", and both simple function combinations are but separate fully, and when single mode moved, another move mode mechanism became redundancy even load.2, drive redundancy, when adopting a kind of type of drive, another kind of drive motor is redundant, and the control difficulty increases, and the control system wiring is loaded down with trivial details.
Summary of the invention
For overcoming the redundant shortcoming of existing wheel leg mechanism actuator and mechanism; The utility model provides a kind of gear continuous meshing wheel leg mechanism, and this mechanism structure is simple, effectively realizes the Function Coupling that the wheel leg moves; Two kinds of not loads each other of travel mechanism drive and control simple.
The utility model is that the technical scheme that the technical solution problem is adopted is: design a kind of leg structure of taking turns; Comprise thigh, shank, wheel, transmission gear; Connecting rod, telescoping mechanism, wherein the shank upper end is hinged on the thigh lower end, and the shank lower end is fixed with wheel; Connecting rod and transmission gear are installed on two legs, drive and control motor and be installed on the thigh.Under the effect of control motor, telescoping mechanism and connecting rod can realize taking turns the stretching, extension and the contraction of leg, and with the steady obstacle detouring of assurance mobile platform, and wheel can not shut down in the wheel leg telescopic process, has guaranteed the continuity of motion.Article four, the different flexible combination of leg can realize multi-form obstacle detouring.
The beneficial effect of the utility model is, the utility model is installed on the mobile platform, and two kinds of mobile forms effectively couplings on function, not load each other simplifies the structure and controls.Can guarantee platform smooth running and obstacle detouring, and remain level to a certain degree, be convenient to the platform operation, each wheel individual drive is easy to turn to.
Description of drawings
Below in conjunction with accompanying drawing the utility model is further specified.
Fig. 1 is the front view of wheel leg mechanism.
Fig. 2 is the back view of wheel leg mechanism.
Fig. 3 is the mobile platform simple model.
Fig. 4 is the operation attitude of subdued topography upper mounting plate.
Fig. 5 is the operation attitude that slowly changes the landform upper mounting plate.
Fig. 6 and Fig. 7 are that table top is met flat-bed operation attitude when hindering.
Fig. 8 is the operation attitude of many obstacles landform upper mounting plate.
Fig. 9 is that wheel is met the operation attitude when hindering.
1. thighs among Fig. 1,2. gear one, 3. shank, 4. gear two, 5. other transmission gear, 6. wheel, 7. connecting rod, 8. telescoping mechanism.
The specific embodiment
As shown in Figure 1, gear is installed on thigh (1) and the shank (3), and connecting rod (7) two ends are installed in respectively on thigh (1) and the shank (3), and telescoping mechanism (8) is installed on the thigh (1), and control motor and drive motor all are installed on the thigh (1), and wiring is concentrated.Gear one (2) on the thigh (1) is a drive wheel, is driven by motor, and gear one (2) is guaranteed by connecting rod (7) with the engagement continuity of gear two (4).Can know that by Fig. 2 by the position of telescoping mechanism (8) pinion one (2), and realize the flexible of leg by connecting rod (7), wherein telescoping mechanism can be various ways such as leading screw, rack-and-gear, is mainly used in to realize the flexible of motor control mechanism.This mechanism makes and is successfully realized by stretching of the control of the telescoping mechanism on thigh shank.
Fig. 3 has installed said platform simple model of taking turns leg mechanism.
Shown in 4, on subdued topography, telescoping mechanism moves to the end position of contraction state, four wheel leg state consistencies, and platform reduces and the maintenance level, the drive motor normal operation, operation is continuously steadily.
As shown in Figure 5, slowly changing on the landform, if require platform maintenance level, each is taken turns leg and can regulate the control motor according to self present position, makes respectively to take turns leg and present different state to reach the flat-bed level.
Shown in Fig. 6 and 7, when table top was met barrier, four wheel legs stretched simultaneously, can successful obstacle detouring up to table top.
On snagged landform, platform can be with attitude operation as shown in Figure 8, and four legs all are extended configuration, so that realize wheel obstacle detouring as shown in Figure 9.
When certain wheel was met barrier, this was taken turns leg and shrinks, and up to successful obstacle detouring, the wheel leg can restore to the original state.
Claims (4)
1. continuous meshing wheel leg mechanism of gear, it is characterized by primary mover is the continuous engaged transmission of gear to wheel, and gear is installed on thigh (1) and the shank (3), and gear one (2) is guaranteed by connecting rod (7) with the engagement continuity of gear two (4).
2. the continuous meshing wheel leg mechanism of a kind of gear according to claim 1; It is characterized by and be: by the position of telescoping mechanism (8) pinion one (2); And stretching by connecting rod (7) realization leg; Connecting rod (7) two ends are installed in respectively on thigh (1) and the shank (3), and wherein telescoping mechanism can be various ways such as leading screw, rack-and-gear, are mainly used in to realize the flexible of motor control mechanism.
3. the continuous meshing wheel leg mechanism of a kind of gear according to claim 1 is characterized in that: telescoping mechanism (8) is installed on the thigh (1).
4. the continuous meshing wheel leg mechanism of a kind of gear according to claim 1 is characterized in that: control motor and drive motor all are installed on the thigh (1), and wiring is concentrated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204590423U CN202320578U (en) | 2011-11-06 | 2011-11-06 | Wheel leg mechanism with continuously engaging gears |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204590423U CN202320578U (en) | 2011-11-06 | 2011-11-06 | Wheel leg mechanism with continuously engaging gears |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202320578U true CN202320578U (en) | 2012-07-11 |
Family
ID=46432568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204590423U Expired - Fee Related CN202320578U (en) | 2011-11-06 | 2011-11-06 | Wheel leg mechanism with continuously engaging gears |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202320578U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104108433A (en) * | 2014-06-30 | 2014-10-22 | 中国人民解放军国防科学技术大学 | Compliant control method of wheel foot type robot |
| CN106080828A (en) * | 2016-06-30 | 2016-11-09 | 上海智位机器人股份有限公司 | A kind of wheel biped robot |
| CN107054494A (en) * | 2017-04-05 | 2017-08-18 | 江南大学 | A kind of displacement Stump-jump wheel leg for mobile robot |
| CN108128370A (en) * | 2017-12-29 | 2018-06-08 | 江苏集萃智能制造技术研究所有限公司 | The unmanned chassis of full landform and method of work based on the driving of 8 × 8 type distributions |
| CN108674514A (en) * | 2018-05-23 | 2018-10-19 | 深圳市睿科智联科技有限公司 | Take turns robot leg |
| CN109747729A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate |
| CN112550513A (en) * | 2020-12-09 | 2021-03-26 | 北京理工大学重庆创新中心 | Wheel-legged robot and driving method thereof |
| CN112550511A (en) * | 2020-12-09 | 2021-03-26 | 北京理工大学重庆创新中心 | Wheel-legged robot and driving method thereof |
| CN113022733A (en) * | 2021-03-05 | 2021-06-25 | 南京信息工程大学 | Leg mechanism with replaceable foot end |
-
2011
- 2011-11-06 CN CN2011204590423U patent/CN202320578U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104108433A (en) * | 2014-06-30 | 2014-10-22 | 中国人民解放军国防科学技术大学 | Compliant control method of wheel foot type robot |
| CN106080828A (en) * | 2016-06-30 | 2016-11-09 | 上海智位机器人股份有限公司 | A kind of wheel biped robot |
| CN106080828B (en) * | 2016-06-30 | 2018-01-26 | 上海智位机器人股份有限公司 | One kind wheel biped robot |
| CN107054494A (en) * | 2017-04-05 | 2017-08-18 | 江南大学 | A kind of displacement Stump-jump wheel leg for mobile robot |
| CN109747729A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate |
| CN108128370A (en) * | 2017-12-29 | 2018-06-08 | 江苏集萃智能制造技术研究所有限公司 | The unmanned chassis of full landform and method of work based on the driving of 8 × 8 type distributions |
| CN108128370B (en) * | 2017-12-29 | 2023-11-10 | 江苏集萃智能制造技术研究所有限公司 | All-terrain unmanned vehicle chassis based on 8X 8 type distributed driving and working method |
| CN108674514A (en) * | 2018-05-23 | 2018-10-19 | 深圳市睿科智联科技有限公司 | Take turns robot leg |
| CN112550513A (en) * | 2020-12-09 | 2021-03-26 | 北京理工大学重庆创新中心 | Wheel-legged robot and driving method thereof |
| CN112550511A (en) * | 2020-12-09 | 2021-03-26 | 北京理工大学重庆创新中心 | Wheel-legged robot and driving method thereof |
| CN112550513B (en) * | 2020-12-09 | 2023-07-25 | 北京理工大学重庆创新中心 | Wheel leg robot and driving method thereof |
| CN112550511B (en) * | 2020-12-09 | 2023-07-25 | 北京理工大学重庆创新中心 | Wheel leg robot and driving method thereof |
| CN113022733A (en) * | 2021-03-05 | 2021-06-25 | 南京信息工程大学 | Leg mechanism with replaceable foot end |
| CN113022733B (en) * | 2021-03-05 | 2022-03-08 | 南京信息工程大学 | Leg mechanism with replaceable foot end |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202320578U (en) | Wheel leg mechanism with continuously engaging gears | |
| CN104008698B (en) | The four-footed walking robot of multi-connecting-rod mechanism composition | |
| CN104224325B (en) | A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot | |
| CN105946483B (en) | With the amphibious multi-foot robot for becoming cell type pedipulator | |
| CN201291928Y (en) | Six-foot walking robot device | |
| CN203228864U (en) | Connecting-bar type four-footed crawling robot | |
| CN102616296A (en) | Six-wheel-leg type serial-parallel hybrid robot | |
| CN109794920A (en) | A kind of bionical restructural rescue robot | |
| CN108791563A (en) | A kind of legged type robot list leg device and legged type robot | |
| CN101830253A (en) | Six-foot crawling robot | |
| CN202593677U (en) | Six-wheel-foot type series-parallel mixed combination robot | |
| CN102765433B (en) | Novel wheel-leg type robot with variable structure | |
| CN202593676U (en) | Three-wheel-foot type serial-parallel combined robot | |
| CN102889349A (en) | Parallel motion mechanism and retractable gateway door | |
| CN203958366U (en) | A kind of under-driven adaptive obstacle detouring train | |
| CN102849141B (en) | Three-wheel walking robot of series and parallel connection | |
| CN103273477A (en) | Mobile robot capable of jumping | |
| CN206813139U (en) | A kind of wheel leg transform robot | |
| CN204010492U (en) | The four-footed walking robot of multi-connecting-rod mechanism composition | |
| CN106639443A (en) | Omni-directional-driving steering automated guided vehicle (AGV) | |
| CN109606498A (en) | A kind of robot deformation leg with the sufficient ability to transform of wheel | |
| CN209566122U (en) | A kind of multi-degree-of-freemechanical mechanical arm | |
| CN108382142A (en) | A kind of metamorphic mechanisms for realizing flight and action switching of running for flapping wing robot | |
| CN202371581U (en) | Illuminating system on crane boom | |
| CN203415439U (en) | Power driving mechanism used for vacuum on-load tap-changer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120711 Termination date: 20121106 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |