CN204527387U - The hybrid quadruped robot of a kind of wheel foot - Google Patents
The hybrid quadruped robot of a kind of wheel foot Download PDFInfo
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- CN204527387U CN204527387U CN201520083834.3U CN201520083834U CN204527387U CN 204527387 U CN204527387 U CN 204527387U CN 201520083834 U CN201520083834 U CN 201520083834U CN 204527387 U CN204527387 U CN 204527387U
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Abstract
The utility model discloses the hybrid quadruped robot of a kind of wheel foot, comprise complete machine pedestal, walking foot, roller foot and support hydraulic pressure push rod, described walking foot is arranged in the rear and front end of complete machine pedestal, and often holds each distribution two, and the structure of each walking foot is identical; Described roller foot is arranged in the both sides of complete machine pedestal midway location, and every side distributes two, and two of side is drive wheel roller foot, and two of opposite side is flower wheel roller foot; The described complete machine pedestal left and right sides is equipped with well-distributed two support hydraulic pressure push rods; The utility model is simple and compact for structure, and load-carrying capacity is strong, and the hybrid quadruped robot of foot of taking turns of the present utility model can be advanced with multiple gait.
Description
Technical field
The utility model relates to a kind of quadruped robot, in particular, relates to the hybrid quadruped robot of a kind of wheel foot.
Background technology
Quadruped robot is a kind of robot commonplace at present, and consider from stability and the control aspect such as complexity and manufacturing cost, four-footed machine is best legged type robot form, the dark tool social effect of research of quadruped robot and practical value.At present, external many about the research of quadruped robot, the more typically BigDog quadruped robot of the Boston dynamics laboratory development of CMU, this joint of robot is driven by hydraulic efficiency pressure system, have the ability of carrying one fixed load, very strong balanced capacity, field locomotor activity is very strong, but its cost is very high, control difficulty large.Traditional design mostly adopts motor as joint drive source, and structure is simple, but due to the restriction of drive source and structure, such that its prototype fabrication is simple, load-carrying capacity is little, motion is more single, the speed of travel is very slow, is difficult to promote.
Utility model content
The purpose of this utility model is just that traditional quadruped robot load-carrying capacity is little, single, that the speed of travel is slow deficiency of moving in order to solve, and the utility model provides a kind of load-carrying capacity strong, and multiple gait of advancing, structure simply take turns the hybrid quadruped robot of foot.
The utility model is achieved through the following technical solutions above-mentioned purpose: the hybrid quadruped robot of a kind of wheel foot, comprise complete machine pedestal, walking foot, roller foot and support hydraulic pressure push rod, described walking foot is arranged in the rear and front end of complete machine pedestal, and often hold each distribution two, the structure of each walking foot is identical; Described roller foot is arranged in the both sides of complete machine pedestal midway location, and every side distributes two, and two of side is drive wheel roller foot, and two of opposite side is flower wheel roller foot; The described complete machine pedestal left and right sides is equipped with well-distributed two support hydraulic pressure push rods;
Described walking foot comprises the first hydraulic push rod, the second hydraulic push rod, moving platform pedestal, moving platform and two kinematic links; The pedestal of described first hydraulic push rod passes through revolute pair chain connection complete machine pedestal, the affixed moving platform pedestal of piston rod of the first hydraulic push rod; The pedestal of the second hydraulic push rod is by revolute pair chain connection complete machine pedestal, and the piston rod of the second hydraulic push rod is by revolute pair chain connection first hydraulic push rod; Described moving platform pedestal connects moving platform by two kinematic links; Described two kinematic links are formed by motor, drive spindle and connecting rod, and the motor of two kinematic links is set up orthogonal at space cloth, and the turning cylinder of motor is connected with one end of drive spindle, and the other end of drive spindle passes through one end of revolute pair chain connection connecting rod; The connecting rod other end of one of them kinematic link passes through the side of revolute pair chain connection moving platform, the end face of the affixed moving platform of the connecting rod other end of another kinematic link;
Described flower wheel roller foot comprises flower wheel, flower wheel fagging, flower wheel support, first connecting rod, the first most quarter butt and the 3rd hydraulic push rod; The wheel shaft of described flower wheel connects flower wheel fagging by revolute pair hinge, and the top of described flower wheel fagging is by revolute pair chain connection flower wheel support, and described flower wheel support is by revolute pair chain connection complete machine pedestal; One end of described first connecting rod is by revolute pair chain connection flower wheel support, and the other end forms compound hinges by the piston rod of revolute pair hinge and the first most quarter butt, the 3rd hydraulic push rod; The other end of the described first most quarter butt is by revolute pair chain connection complete machine pedestal, and the pedestal of the 3rd hydraulic push rod is by revolute pair chain connection complete machine pedestal;
Described drive wheel roller foot comprises motor, drive wheel, drive wheel bracket, second connecting rod, the second most quarter butt and the 4th hydraulic push rod; The wheel shaft of described drive wheel connects the lower end of drive wheel bracket by revolute pair hinge, the wheel shaft of the affixed drive wheel of turning cylinder of described motor, and motor arrangement is inside drive wheel bracket; Described drive wheel bracket is by revolute pair chain connection complete machine pedestal; One end of described second connecting rod is by revolute pair chain connection drive wheel bracket, and the other end forms compound hinges by the piston rod of revolute pair hinge and the second most quarter butt, the 4th hydraulic push rod; The other end of the described second most quarter butt is by revolute pair chain connection complete machine pedestal, and the pedestal of the 4th hydraulic push rod is by revolute pair chain connection complete machine pedestal.
Further, described two kinematic links are respectively the first kinematic link and the second kinematic link, described first kinematic link comprises the first kinematic link motor, the first kinematic link drive spindle and the first kinematic link connecting rod, and described second kinematic link comprises the second kinematic link motor, the second kinematic link drive spindle and the second kinematic link connecting rod; The turning cylinder of described first kinematic link motor and one end of the first kinematic link drive spindle affixed, the other end of the first kinematic link drive spindle passes through one end of revolute pair chain connection first kinematic link connecting rod, and the other end of the first kinematic link connecting rod passes through the side of revolute pair chain connection moving platform; The turning cylinder of described second kinematic link motor and one end of the second kinematic link drive spindle affixed, the other end of the second kinematic link drive spindle passes through the other end of revolute pair chain connection second kinematic link connecting rod, the end face of the affixed moving platform of the other end of the second kinematic link connecting rod.
The beneficial effects of the utility model are: the utility model is simple and compact for structure, and load-carrying capacity is strong, and the hybrid quadruped robot of foot of taking turns of the present utility model can be advanced with multiple gait.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of taking turns the hybrid quadruped robot of foot of the utility model.
In figure, 1-complete machine pedestal, 2-first hydraulic push rod, 3-second hydraulic push rod, 4-moving platform pedestal, 5-first kinematic link drive spindle, 6-first kinematic link connecting rod, 7-second kinematic link connecting rod, 8-second kinematic link drive spindle, 9-moving platform, 10-first kinematic link motor, 11-second kinematic link motor, 12-flower wheel, 13-flower wheel fagging, 14-flower wheel support, 15-first connecting rod, 16-first most quarter butt, 17-the 3rd hydraulic push rod, 18-drive wheel, 19-driving wheel motor, 20-drive wheel bracket, 21-support hydraulic pressure push rod.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail:
As shown in Figure 1, the hybrid quadruped robot of a kind of wheel foot, comprise complete machine pedestal 1, walking foot, roller foot and support hydraulic pressure push rod 21, walking foot is arranged in the rear and front end of complete machine pedestal 1, and often holds each distribution two, and the structure of each walking foot is identical; Roller foot is arranged in the both sides of complete machine pedestal 1 midway location, and every side distributes two, and two of side is drive wheel roller foot, and two of opposite side is flower wheel roller foot; Complete machine pedestal 1 left and right sides is equipped with well-distributed two support hydraulic pressure push rods 21;
Complete machine pedestal 1 left and right sides well-distributed two support hydraulic pressure push rods 21, ensure that quadruped robot can be stood up from Row sum-equal matrix when falling down to the ground.
Walking foot comprises the first hydraulic push rod 2, second hydraulic push rod 3, moving platform pedestal 4, moving platform 9 and two kinematic links; The pedestal of the first hydraulic push rod 2 passes through the affixed moving platform pedestal 4 of piston rod of revolute pair chain connection complete machine pedestal 1, first hydraulic push rod 2; The pedestal of the second hydraulic push rod 3 passes through revolute pair chain connection first hydraulic push rod 2 by the piston rod of revolute pair chain connection complete machine pedestal 1, second hydraulic push rod 3; Moving platform pedestal 4 connects moving platform 9 by two kinematic links; Two kinematic links are formed by motor, drive spindle and connecting rod, and the motor of two kinematic links is set up orthogonal at space cloth, and the turning cylinder of motor is connected with one end of drive spindle, and the other end of drive spindle passes through one end of revolute pair chain connection connecting rod; The connecting rod other end of one of them kinematic link passes through the side of revolute pair chain connection moving platform 9, the end face of the affixed moving platform 9 of the connecting rod other end of another kinematic link;
Flower wheel roller foot comprises flower wheel 12, flower wheel fagging 13, flower wheel support 14, the most quarter butt 16 of first connecting rod 15, first and the 3rd hydraulic push rod 17; The wheel shaft of flower wheel 12 connects flower wheel fagging 13 by revolute pair hinge, and the top of flower wheel fagging 13 is by revolute pair chain connection flower wheel support 14, and flower wheel support 14 is by revolute pair chain connection complete machine pedestal 1; One end of first connecting rod 15 is by revolute pair chain connection flower wheel support 14, and the other end forms compound hinges by the piston rod of revolute pair hinge and the first most quarter butt 16, the 3rd hydraulic push rod 17; The other end of the first most quarter butt 16 is by revolute pair chain connection complete machine pedestal 1, and the pedestal of the 3rd hydraulic push rod 17 is by revolute pair chain connection complete machine pedestal 1;
Drive wheel roller foot comprises driving wheel motor 19, drive wheel 18, drive wheel bracket 20, second connecting rod, the second most quarter butt and the 4th hydraulic push rod; The wheel shaft of drive wheel 18 connects the lower end of drive wheel bracket 20 by revolute pair hinge, the wheel shaft of the affixed drive wheel 18 of turning cylinder of driving wheel motor 19, and driving wheel motor 19 is arranged in inside drive wheel bracket 20; Drive wheel bracket 20 is by revolute pair chain connection complete machine pedestal 1; One end of second connecting rod is by revolute pair chain connection drive wheel bracket 20, and the other end forms compound hinges by the piston rod of revolute pair hinge and the second most quarter butt, the 4th hydraulic push rod; The other end of the second most quarter butt is by revolute pair chain connection complete machine pedestal 1, and the pedestal of the 4th hydraulic push rod is by revolute pair chain connection complete machine pedestal 1.
Two kinematic links are respectively the first kinematic link and the second kinematic link, first kinematic link comprises the first kinematic link motor 10, first kinematic link drive spindle 5 and the first kinematic link connecting rod 6, second kinematic link comprises the second kinematic link motor 11, second kinematic link drive spindle 8 and the second kinematic link connecting rod 7; The turning cylinder of the first kinematic link motor 10 and one end of the first kinematic link drive spindle 5 affixed, the other end of the first kinematic link drive spindle 5 passes through one end of revolute pair chain connection first kinematic link connecting rod 6, and the other end of the first kinematic link connecting rod 6 passes through the side of revolute pair chain connection moving platform 9; The turning cylinder of the second kinematic link motor 11 and one end of the second kinematic link drive spindle 8 affixed, the other end of the second kinematic link drive spindle 8 passes through the other end of revolute pair chain connection second kinematic link connecting rod 7, the end face of the affixed moving platform 9 of the other end of the second kinematic link connecting rod 7.First kinematic link and the second kinematic link realize two degree of freedom of moving platform 9.
Above-described embodiment is preferred embodiment of the present utility model; it is not the restriction to technical solutions of the utility model; as long as without the technical scheme that creative work can realize on the basis of above-described embodiment, all should be considered as falling within the scope of the rights protection of the utility model patent.
Claims (2)
1. the hybrid quadruped robot of wheel foot, it is characterized in that: comprise complete machine pedestal (1), walking foot, roller foot and support hydraulic pressure push rod (21), described walking foot is arranged in the rear and front end of complete machine pedestal (1), and often hold each distribution two, the structure of each walking foot is identical; Described roller foot is arranged in the both sides of complete machine pedestal (1) midway location, and every side distributes two, and two of side is drive wheel roller foot, and two of opposite side is flower wheel roller foot; Described complete machine pedestal (1) left and right sides is equipped with well-distributed two support hydraulic pressure push rods (21);
Described walking foot comprises the first hydraulic push rod (2), the second hydraulic push rod (3), moving platform pedestal (4), moving platform (9) and two kinematic links; The pedestal of described first hydraulic push rod (2) passes through revolute pair chain connection complete machine pedestal (1), the affixed moving platform pedestal (4) of piston rod of the first hydraulic push rod (2); The pedestal of the second hydraulic push rod (3) is by revolute pair chain connection complete machine pedestal (1), and the piston rod of the second hydraulic push rod (3) is by revolute pair chain connection first hydraulic push rod (2); Described moving platform pedestal (4) connects moving platform (9) by two kinematic links; Described two kinematic links are formed by motor, drive spindle and connecting rod, and the motor of two kinematic links is set up orthogonal at space cloth, and the turning cylinder of motor is connected with one end of drive spindle, and the other end of drive spindle passes through one end of revolute pair chain connection connecting rod; The connecting rod other end of one of them kinematic link passes through the side of revolute pair chain connection moving platform (9), the end face of the affixed moving platform of the connecting rod other end (9) of another kinematic link;
Described flower wheel roller foot comprises flower wheel (12), flower wheel fagging (13), flower wheel support (14), first connecting rod (15), the first most quarter butt (16) and the 3rd hydraulic push rod (17); The wheel shaft of described flower wheel (12) connects flower wheel fagging (13) by revolute pair hinge, the top of described flower wheel fagging (13) is by revolute pair chain connection flower wheel support (14), and described flower wheel support (14) is by revolute pair chain connection complete machine pedestal (1); One end of described first connecting rod (15) is by revolute pair chain connection flower wheel support (14), and the other end forms compound hinges by the piston rod of revolute pair hinge and the first most quarter butt (16), the 3rd hydraulic push rod (17); The other end of the described first most quarter butt (16) is by revolute pair chain connection complete machine pedestal (1), and the pedestal of the 3rd hydraulic push rod (17) is by revolute pair chain connection complete machine pedestal (1);
Described drive wheel roller foot comprises driving wheel motor (19), drive wheel (18), drive wheel bracket (20), second connecting rod, the second most quarter butt and the 4th hydraulic push rod; The wheel shaft of described drive wheel (18) connects the lower end of drive wheel bracket (20) by revolute pair hinge, the wheel shaft of the affixed drive wheel of turning cylinder (18) of described driving wheel motor (19), driving wheel motor (19) is arranged in drive wheel bracket (20) inner side; Described drive wheel bracket (20) is by revolute pair chain connection complete machine pedestal (1); One end of described second connecting rod is by revolute pair chain connection drive wheel bracket (20), and the other end forms compound hinges by the piston rod of revolute pair hinge and the second most quarter butt, the 4th hydraulic push rod; The other end of the described second most quarter butt is by revolute pair chain connection complete machine pedestal (1), and the pedestal of the 4th hydraulic push rod is by revolute pair chain connection complete machine pedestal (1).
2. the hybrid quadruped robot of one wheel foot according to claim 1, it is characterized in that: described two kinematic links are respectively the first kinematic link and the second kinematic link, described first kinematic link comprises the first kinematic link motor (10), the first kinematic link drive spindle (5) and the first kinematic link connecting rod (6), and described second kinematic link comprises the second kinematic link motor (11), the second kinematic link drive spindle (8) and the second kinematic link connecting rod (7); The turning cylinder of described first kinematic link motor (10) and one end of the first kinematic link drive spindle (5) affixed, the other end of the first kinematic link drive spindle (5) passes through one end of revolute pair chain connection first kinematic link connecting rod (6), and the other end of the first kinematic link connecting rod (6) passes through the side of revolute pair chain connection moving platform (9); The turning cylinder of described second kinematic link motor (11) and one end of the second kinematic link drive spindle (8) affixed, the other end of the second kinematic link drive spindle (8) passes through the other end of revolute pair chain connection second kinematic link connecting rod (7), the end face of the affixed moving platform of the other end (9) of the second kinematic link connecting rod (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520083834.3U CN204527387U (en) | 2015-02-06 | 2015-02-06 | The hybrid quadruped robot of a kind of wheel foot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520083834.3U CN204527387U (en) | 2015-02-06 | 2015-02-06 | The hybrid quadruped robot of a kind of wheel foot |
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| CN204527387U true CN204527387U (en) | 2015-08-05 |
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| CN201520083834.3U Active CN204527387U (en) | 2015-02-06 | 2015-02-06 | The hybrid quadruped robot of a kind of wheel foot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104691643A (en) * | 2015-02-06 | 2015-06-10 | 浙江工业大学 | Roller-foot hybrid quadruped robot |
| CN105752185A (en) * | 2016-03-03 | 2016-07-13 | 上海大学 | Hybrid robot capable of switching wheel leg gaits based on changes of gear train properties |
| CN112572634A (en) * | 2020-11-16 | 2021-03-30 | 长春工业大学 | Wheel-foot hybrid walking robot structure and control system |
-
2015
- 2015-02-06 CN CN201520083834.3U patent/CN204527387U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104691643A (en) * | 2015-02-06 | 2015-06-10 | 浙江工业大学 | Roller-foot hybrid quadruped robot |
| CN105752185A (en) * | 2016-03-03 | 2016-07-13 | 上海大学 | Hybrid robot capable of switching wheel leg gaits based on changes of gear train properties |
| CN105752185B (en) * | 2016-03-03 | 2018-04-06 | 上海大学 | The serial-parallel machining robot of wheel leg gait switching is realized based on train characteristic changing |
| CN112572634A (en) * | 2020-11-16 | 2021-03-30 | 长春工业大学 | Wheel-foot hybrid walking robot structure and control system |
| CN112572634B (en) * | 2020-11-16 | 2023-03-31 | 长春工业大学 | Wheel-foot hybrid walking robot structure and control system |
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