CN204137153U - A kind ofly adapt to the wheel leg mechanism that two of complex-terrain takes turns balance wheel legged mobile robot - Google Patents
A kind ofly adapt to the wheel leg mechanism that two of complex-terrain takes turns balance wheel legged mobile robot Download PDFInfo
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- CN204137153U CN204137153U CN201420532150.2U CN201420532150U CN204137153U CN 204137153 U CN204137153 U CN 204137153U CN 201420532150 U CN201420532150 U CN 201420532150U CN 204137153 U CN204137153 U CN 204137153U
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Abstract
The utility model discloses and a kind ofly adapt to the wheel leg mechanism that two of complex-terrain takes turns balance wheel legged mobile robot, include two wheel legs that main stand is identical with being symmetricly set in described main stand left and right sides structure, described leg of taking turns is by the first steering wheel, second steering wheel, 3rd steering wheel, 4th steering wheel, DC machine and tire composition, described first steering wheel and the second steering wheel, 3rd steering wheel is connected respectively by metal machine frame a with the fuselage of the 4th steering wheel, the steering wheel of described 4th steering wheel is fixed on main stand, be connected by metal machine frame b between described second steering wheel with the steering wheel of the 3rd steering wheel, the described steering wheel of the first steering wheel is connected with the fuselage of DC machine, described tire is connected with the mouth of DC machine.The utility model list, balance quality is good, not only may be used for two and take turns the smooth-ride of balanced robot at complex-terrain, and as the wheel leg structure of monomer module composition wheel leg type multi-foot robot, complexity and the cost of leg-wheel robot can be reduced greatly.
Description
Technical field
The utility model relates to robotics, a kind ofly specifically adapts to the wheel leg mechanism that two of complex-terrain takes turns balance wheel legged mobile robot.
Background technology
Two take turns balance wheel legged mobile robot, have the huge advantage of self, by the adjustment of pid algorithm, can make robot only use two take turns foot just can smooth running, especially in the middle of narrow landform, two take turns the advantage that balance wheel legged mobile robot has uniqueness.
The current two wheel leg structures of taking turns balance wheel legged mobile robot only have fixing wheelspan and height, are only applicable to level walking, lack the adaptive capacity to complex-terrain, wheel leg complex structure, algorithm is complicated, and balance is poor, and can not load large numbers of items to realize the function of object transport.
Wheel leg type multi-foot robot to utilize in landform relative to wheeled robot and polypody robot and has better alerting ability in adaptation.Relative to wheeled robot, wheel leg type multi-foot robot can be walked on complex-terrain; Relative to polypody robot, leg-wheel robot can advance with higher speed on smooth-riding surface with less energy.
General wheel leg type multi-foot robot has two or three pairs of leg of taking turns as support, as the ATHLETE leg-wheel robot of NASA.Although ATHLETE has landform comformability and degree of utilization is superior, build is huge, and only can be used as carrier and use, task degree of adaptability is low, very flexible.
Summary of the invention
For solving the technical matters of above-mentioned existence, the utility model provides and a kind ofly adapts to the wheel leg mechanism that two of complex-terrain takes turns balance wheel legged mobile robot, physical construction is simple, balance quality is good, not only may be used for two and take turns the smooth-ride of balanced robot at complex-terrain, and as the wheel leg structure of monomer module composition wheel leg type multi-foot robot, can creep, and realize object transportation function, reduce complexity and the cost of leg-wheel robot greatly.
For achieving the above object, the technical scheme that the utility model adopts is:
A kind of wheel leg mechanism adapting to the leg-wheel robot of complex-terrain, include two wheel legs that main stand is identical with being symmetricly set in described main stand left and right sides structure, described wheel described in leg takes turns leg mechanism by the first steering wheel, second steering wheel, 3rd steering wheel, 4th steering wheel, DC machine and tire composition, described first steering wheel and the second steering wheel, 3rd steering wheel is connected respectively by metal machine frame a with the fuselage of the 4th steering wheel, the steering wheel of described 4th steering wheel is fixed on main stand, be connected by metal machine frame b between described second steering wheel with the steering wheel of the 3rd steering wheel, the described steering wheel of the first steering wheel is connected with the fuselage of DC machine, described tire is connected with the mouth of DC machine.
The steering wheel rotating range of each steering wheel is 1-180 °.
The wheel leg mechanism of balance wheel legged mobile robot is taken turns in two of the utility model elaboration, devise two wheel legs that main stand is symmetrical set, this is taken turns leg and comprises four steering wheels with specific annexation, a DC machine and a tire, the position relationship between four steering wheels is adjusted by the rotation direction controlling steering wheel steering wheel, thus the height of regulating wheel leg, under the control of robot control system pid algorithm, enable two to take turns balance wheel legged mobile robot and adapt to Various Complex landform and steadily walk; This is taken turns leg mechanism and is applicable to two and takes turns balance wheel legged mobile robot, and simultaneously also as the wheel leg structure of monomer module composition wheel leg type multi-foot robot, the polypody realizing wheel leg type multi-foot robot is creeped, and can realize transportation function; It is simple that this takes turns leg mechanism physical construction, the algorithm adopted is easier, can realize leg-wheel robot original place static, accelerate, at the uniform velocity advance and retreat, easy to control more flexibly, achieve the facilitation that leg-wheel robot simplifies the structure and controls, reduce the productive costs of leg-wheel robot.
Accompanying drawing explanation
Structural representation when Fig. 1 is the operation of the utility model Long Wheelbase low clearance;
Structural representation when Fig. 2 is the operation of the utility model short wheelbase high altitude;
Fig. 3 is the structural representation of the utility model leg state variation in complex-terrain.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
As shown in Figure 1, the wheel leg mechanism of the leg-wheel robot of this adaptation complex-terrain, include two wheel legs that main stand 1 is identical with being symmetricly set in described main stand 1 left and right sides structure, described leg mechanism of taking turns is by the first steering wheel 2, second steering wheel 3, 3rd steering wheel 4, 4th steering wheel 5, DC machine 6 and tire 7 form, described first steering wheel 2 and the second steering wheel 3, 3rd steering wheel 4 is connected respectively by metal machine frame a8 with the fuselage of the 4th steering wheel 5, the steering wheel of described 4th steering wheel 5 is fixed on main stand 1, described second steering wheel 3 is connected by metal machine frame b9 with between the steering wheel of the 3rd steering wheel 4, the steering wheel of described first steering wheel 2 is connected with the fuselage of DC machine 6, described tire 7 is connected with the mouth of DC machine 6.
As preferred mode, the steering wheel rotating range of each steering wheel is 0-180 °.
As shown in Figure 2, to be arranged at two of main stand 1 left and right sides wheel legs be revolver leg and rightly take turns leg, revolver leg mechanism is by left first steering wheel 12, left second steering wheel 13, left 3rd steering wheel 14, left 4th steering wheel 15, left DC machine 16 and left tire 17 form, described left first steering wheel 12 and left second steering wheel 13, left 3rd steering wheel 14 is connected respectively by left metal machine frame a18 with the fuselage of left 4th steering wheel 15, the steering wheel of described left 4th steering wheel 15 is fixed on main stand 1, be connected by the left b19 of metal machine frame between described left second steering wheel 13 with the steering wheel of left 3rd steering wheel 14, the steering wheel of described left first steering wheel 12 is connected with the fuselage of left DC machine 16, described left tire 17 is connected with the mouth of left DC machine 16.
Right leg mechanism of taking turns is by right first steering wheel 22, right second steering wheel 23, right 3rd steering wheel 24, right 4th steering wheel 25, right DC machine 26 and right tire 27 form, described right first steering wheel 22 and right second steering wheel 23, right 3rd steering wheel 24 is connected respectively by right metal machine frame a28 with the fuselage of right 4th steering wheel 25, the steering wheel of described right 4th steering wheel 25 is fixed on main stand 1, be connected by the right b29 of metal machine frame between described right second steering wheel 23 with the steering wheel of right 3rd steering wheel 24, the steering wheel of described right first steering wheel 22 is connected with the fuselage of right DC machine 26, described right tire 27 is connected with the mouth of right DC machine 26.
When the utility model runs, main stand 1 is installed acceleration/accel and and turn meter, utilize pid algorithm to control the DC motor Driver tire of foot and balance, realize two and take turns balance walking.By controlling left second steering wheel 13 and left 3rd steering wheel 14, right second steering wheel 23 and the steering wheel anglec of rotation of right 3rd steering wheel 24, the height of change two wheel leg can be realized; By changing the wheel disc rotational angle of left first steering wheel 12 and left 4th steering wheel 15, right first steering wheel 22 and right 4th steering wheel 25, realize the direction changing arbitrarily left tire 17 and right tire 27, and tire direction can be made all the time perpendicular to main stand 1 by constantly regulating, be convenient to robot ambulation.
The wheel leg state of a control of taking turns balance wheel legged mobile robot with regard to two is below specifically described.
Initial condition: as shown in Figure 2, when robot transfixion, control revolver leg by micro controller system (MCU) and rightly take turns leg eight steering wheels, by changing the steering wheel anglec of rotation of left first steering wheel 12, left 4th steering wheel 15, right first steering wheel 22, right 4th steering wheel 25 4 steering wheels, two tires in left and right are made to control eight steering wheels be in the lock state towards robot working direction all the time, in robot advances, steering wheel can not rotate.
Forward travel state: the advance of robot has been rotated by left DC machine 16 and right DC machine 26 two DC machine.Main frame 1 there is acceleration pick-up, two DC machine are equipped with speed measuring device, according to pid algorithm and control theory, in conjunction with the data such as motor speed in the data of acceleration pick-up and two DC machine, calculated the rotating speed of two DC machine subsequent time in real time according to respective algorithms by micro controller system, control two take turns the leg-wheel robot original place of balance static, accelerate, at the uniform velocity advance and retreat.
State when running into obstacle: as shown in Figure 3, micro controller system is by controlling the steering wheel anglec of rotation of left second steering wheel 13, left 3rd steering wheel 14, right two steering wheels 23, right 3rd steering wheel 24, can the height of two wheel legs about dynamic adjustments, to meet the height of obstacle, reach the target adapting to complex-terrain stabilized walking; Left first steering wheel 12, left 4th steering wheel 15, right first steering wheel 22, right 4th steering wheel 25 control left tire 17, right tire 27 all the time towards robot working direction.When left second steering wheel 13, left 3rd steering wheel 14, when right second steering wheel 23, right 3rd steering wheel 24 rotational angle are equal, can make two leg height identical, robot is advanced on level land.
The utility model not only may be used for two and takes turns balance wheel legged mobile robot, also can as monomer module for forming the wheel leg structure of wheel leg type multi-foot robot, multi-foot robot is steadily creeped, adapts to Various Complex landform, and the function of transporting objects can be realized.The quantity of module monomer is determined according to the concrete function design of wheel leg type multi-foot robot.
Above-described embodiment is only for illustration of the utility model, wherein the structure, connection mode etc. of each parts all can change to some extent, such as can convert the quantity of end wheel and foot mechanism, swap modules robot monomer, the various robots of polypody wheel leg type can be realized.Every equivalents of carrying out on the basis of technical solutions of the utility model and improvement, all should not get rid of outside protection domain of the present utility model.
Claims (2)
1. one kind adapts to the wheel leg mechanism that two of complex-terrain takes turns balance wheel legged mobile robot, it is characterized in that, include two wheel legs that main stand (1) is identical with being symmetricly set in described main stand (1) left and right sides structure, described leg of taking turns is by the first steering wheel (2), second steering wheel (3), 3rd steering wheel (4), 4th steering wheel (5), DC machine (6) and tire (7) composition, described first steering wheel (2) and the second steering wheel (3), the fuselage of the 3rd steering wheel (4) and the 4th steering wheel (5) is respectively by metal machine frame a(8) be connected, the steering wheel of described 4th steering wheel (5) is fixed on main stand (1), by metal machine frame b(9 between described second steering wheel (3) and the steering wheel of the 3rd steering wheel (4)) be connected, the steering wheel of described first steering wheel (2) is connected with the fuselage of DC machine (6), described tire (7) is connected with the mouth of DC machine (6).
2. according to claim 1ly a kind ofly adapt to the wheel leg mechanism that two of complex-terrain takes turns balance wheel legged mobile robot, it is characterized in that, the steering wheel rotating range of each steering wheel is 0-180 °.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420532150.2U CN204137153U (en) | 2014-09-17 | 2014-09-17 | A kind ofly adapt to the wheel leg mechanism that two of complex-terrain takes turns balance wheel legged mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420532150.2U CN204137153U (en) | 2014-09-17 | 2014-09-17 | A kind ofly adapt to the wheel leg mechanism that two of complex-terrain takes turns balance wheel legged mobile robot |
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| CN204137153U true CN204137153U (en) | 2015-02-04 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105865269A (en) * | 2016-04-19 | 2016-08-17 | 滨州学院 | Invasive four-legged wheel type robot |
| CN105923067A (en) * | 2016-04-21 | 2016-09-07 | 电子科技大学 | Small wheel-foot combined type hexapod robot |
| CN105966487A (en) * | 2016-05-09 | 2016-09-28 | 徐洪军 | Military investigation and attack integrated robot |
| CN113184077A (en) * | 2021-06-09 | 2021-07-30 | 曾嘉禹 | Smart task type biped robot based on SLAM and machine vision and control method thereof |
-
2014
- 2014-09-17 CN CN201420532150.2U patent/CN204137153U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105865269A (en) * | 2016-04-19 | 2016-08-17 | 滨州学院 | Invasive four-legged wheel type robot |
| WO2017181311A1 (en) * | 2016-04-19 | 2017-10-26 | 滨州学院 | Assault robot having four wheel-legs |
| CN105923067A (en) * | 2016-04-21 | 2016-09-07 | 电子科技大学 | Small wheel-foot combined type hexapod robot |
| CN105966487A (en) * | 2016-05-09 | 2016-09-28 | 徐洪军 | Military investigation and attack integrated robot |
| CN105966487B (en) * | 2016-05-09 | 2018-06-19 | 泉州永春双石机械有限公司 | A kind of military affairs Cha Da integral types robot |
| CN113184077A (en) * | 2021-06-09 | 2021-07-30 | 曾嘉禹 | Smart task type biped robot based on SLAM and machine vision and control method thereof |
| CN113184077B (en) * | 2021-06-09 | 2022-07-22 | 曾嘉禹 | Smart task type biped robot based on SLAM and machine vision and control method thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150204 Termination date: 20150917 |
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| EXPY | Termination of patent right or utility model |