CN204548268U - A kind of two eccentric Variable Eccentricity obstacle detouring assembly and wheel biped robot - Google Patents
A kind of two eccentric Variable Eccentricity obstacle detouring assembly and wheel biped robot Download PDFInfo
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- CN204548268U CN204548268U CN201520162854.XU CN201520162854U CN204548268U CN 204548268 U CN204548268 U CN 204548268U CN 201520162854 U CN201520162854 U CN 201520162854U CN 204548268 U CN204548268 U CN 204548268U
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- wheel
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- foreign steamer
- variable eccentricity
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Abstract
The utility model discloses a kind of two eccentric Variable Eccentricity obstacle detouring assembly, comprise and be all eccentric interiorly to take turns and foreign steamer, described interior wheel is rotatingly arranged in foreign steamer, described interior external annular surface of taking turns is provided with several the first inhibiting device, and the inner ring surface of described foreign steamer is provided with the second inhibiting device coordinated with the first inhibiting device.Barrier-surpassing robot of the present utility model both can be eccentric wheel foot constructed machine people and use, and can do again common round wheel construction robot and use.When robot is at smooth ground motion, its Stump-jump wheel switches to common round wheel pattern, and the dynamical axis of common circle wheel is positioned at the center of circle, and walking is without rising and falling, and efficiency is high.When non-flat forms ground motion, its Stump-jump wheel can make eccentric wheel and use, and eccentric dynamical axis departs from the center of circle, and obstacle climbing ability is strong.In the utility model, the Stump-jump wheel of robot freely can switch in bias and the center of circle, and the large I of eccentric throw adjusts in real time according to the height of obstacle in obstacle detouring environment, and obstacle is higher, and the eccentric throw of Stump-jump wheel is larger.
Description
Technical field
The utility model relates to a kind of robot walking device, is specifically related to a kind of pair of eccentric Variable Eccentricity obstacle detouring assembly and comprises the wheel biped robot of this assembly.
Background technology
The continuous exploration of the mankind to tera incognita and the destructuring of human work's environment, and, along with the fast development of the various fields such as nuclear power industry, rescue of exploring, military surveillance, fire-fighting are explosive, space flight and aviation, can walk in smooth ground free walker in the urgent need to one, freely can walk in lowered in field environment and complex-terrain (as on-the-spot in seismic ruins, mine disaster) again and the mobile robot of obstacle detouring.
The kinematic mechanism of existing mobile robot is broadly divided into: wheeled, crawler type, polypody, hybrid (as hybrid in wheel leg, wheel is carried out hybrid) and special shape (as polygon rolling type, snakelike sliding type).Wherein, polypody and special shape belong to bionical class traveling gear mostly, there is very strong obstacle climbing ability and landform comformability, but the complicated in mechanical structure of this two classes traveling gear, control that difficulty is large, manoevreability is relatively poor, be in the primary stage of research and development application at present.Crawler belt has been proved to be a kind of traveling gear that can adapt to complex-terrain and harsh environment through the development of more than 100 years, but its shortcoming also clearly: heavy, need Great Power Driver, therefore, for portable or improper concerning crawler belt power has the mobile robot of strict restriction.
Wheel just occurred before more than 3,000 years, be considered to the traveling gear that energy rotation is most effective, wheel has light succinct, high speed, high efficiency and control is simple etc. that advantage makes it lasting, and the traveling gear that the general-purpose tugboat (three horn rings) occurred in recent years, various Stump-jump wheel and wheel mix with other form makes wheel start to depart from rigid planar ground and come into complex-terrain.Ratcheting mechanism has the advantages such as efficiency is high, speed fast, action is stable, therefore, experienced by the practical application of several thousand.
How to improve the obstacle climbing ability using wheeled robot, can take into account in the regular stationarity of topography system power consumption and the high efficiency of walking, be current robotics's problem demanding prompt solution.
Utility model content
Given this, one of the purpose of this utility model is to provide a kind of two eccentric Variable Eccentricity obstacle detouring assembly, and two of the purpose of this utility model is to provide a kind of wheel biped robot with two eccentric Variable Eccentricity obstacle detouring assembly.
One of the purpose of this utility model is realized by following technical scheme, a kind of two eccentric Variable Eccentricity obstacle detouring assembly, comprise being all and eccentricly interiorly take turns 32 and foreign steamer 31, described interior wheel is rotatingly arranged in foreign steamer, described interior external annular surface 321 of taking turns is provided with several the first inhibiting device 361, and the inner ring surface 311 of described foreign steamer is provided with the second inhibiting device 362 coordinated with the first inhibiting device.
Further, described first inhibiting device is depressed part, and described second inhibiting device is the pars contractilis that can stretch into depressed part.
Further, described interior take turns with foreign steamer on be provided with drive hole 37.
Two of the purpose of this utility model is realized by following technical scheme, a kind of two variable eccentric wheel biped robot of eccentric, comprise body 1, be arranged on the running gear 3 that the control system 2 of internal body and symmetry are arranged on body side, described running gear is two eccentric Variable Eccentricity obstacle detouring assemblies.
Further, the front end of described body 1 is provided with obstacle detouring strut member 25, and its bottom is provided with skid resistant course.
Further, described body 1 is in flat long and narrow structure.
Owing to have employed technique scheme, the utility model has following advantage:
The utility model is by adopting a kind of two eccentric Variable Eccentricity Stump-jump wheel foot version, design a kind of reliable, high and low energy consumption of efficiency simple for structure, earth's surface comformability is good, obstacle climbing ability is strong barrier-surpassing robot, this barrier-surpassing robot can be taken into account in the regular stationarity of topography system power consumption and the high efficiency of walking, can meet the obstacle climbing ability under non-regular landform simultaneously.
Compared with prior art, the utility model has following remarkable advantage:
Adopt the walking of two eccentric Variable Eccentricity Stump-jump wheel foot structure, the robot that can improve eccentric wheel foot structure is in the low inferior position of regular landform sport efficiency and don't lose obstacle climbing ability, makes adaptive capacity to environment higher;
Adopt the walking of two eccentric Variable Eccentricity Stump-jump wheel foot structure, not only can improve eccentric wheel structure power consumption concuss when walking, and the reliability of walking can be ensured, and ensure that the integraty of advance, retrogressing, left and right turn function;
Two eccentric Variable Eccentricity Stump-jump wheel foot structure and airframe structure is adopted to adopt symmetric design and in flat long and narrow build, also normally can walk for when toppling, fault-tolerant ability is improved;
Employing two eccentric Variable Eccentricity Stump-jump wheel foot structure, can do eccentric wheel foot barrier-surpassing robot and use, can do again the common center of circle and take turns sufficient mobile robot use, can realize freely switching between eccentric wheel foot and common center of circle wheel foot.
According to the size of heavy burden and the height of obstacle, the Stump-jump wheel eccentric throw of different size can be selected easily;
Adopt individual drive mode, controllability is good, the step pitch of dynamic adjustment robot and speed.Physical construction is simple, realization is easy, it is convenient to control.
Accompanying drawing explanation
In order to make the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with accompanying drawing, the utility model is described in further detail, wherein:
Fig. 1 is the integral structure schematic diagram of wheel biped robot;
Fig. 2 is the structural representation of two eccentric Variable Eccentricity obstacle detouring assembly;
Fig. 3 is the explosive view of two eccentric Variable Eccentricity obstacle detouring assembly;
Fig. 4 is the section-drawing of two eccentric Variable Eccentricity obstacle detouring assembly;
Fig. 5 is structural representation---the barrier-surpassing robot when eccentric throw of Stump-jump wheel is maximum that the utility model does eccentric wheel foot constructed machine people use;
Fig. 6 is structural representation---the barrier-surpassing robot when eccentric throw of Stump-jump wheel is any that the utility model does eccentric wheel foot constructed machine people use;
Fig. 7 is structural representation---the mobile robot when eccentric throw of Stump-jump wheel is 0 that the utility model does common round wheel construction robot use;
Wherein, 1-body, 2-control system, 3-running gear, 21-central controller, 22-motor drive controller, 23-power supply, 24-radio communication unit, 25-obstacle detouring strut member, 31-foreign steamer, 311-inner ring surface, wheel in 32-, 321-external annular surface, 33-axle drive shaft, 34-motor, 35-motor fixing plate, 361-first inhibiting device, 362-second inhibiting device, 37-drive hole.
Detailed description of the invention
Below with reference to accompanying drawing, preferred embodiment of the present utility model is described in detail; Should be appreciated that preferred embodiment only in order to the utility model is described, instead of in order to limit protection domain of the present utility model.
A kind of two eccentric Variable Eccentricity obstacle detouring assembly, comprise being all and eccentricly interiorly take turns 32 and foreign steamer 31, described interior wheel is rotatingly arranged in foreign steamer, described interior external annular surface 321 of taking turns is provided with several the first inhibiting device 361, and the inner ring surface 311 of described foreign steamer is provided with the second inhibiting device 362 coordinated with the first inhibiting device.
Described interior take turns with foreign steamer on be provided with drive hole 37.
Based on above-mentioned two eccentric Variable Eccentricity obstacle detouring assemblies, the utility model also provides a kind of wheel biped robot, mainly comprises body 1, is arranged on the running gear 3 that the control system 2 of internal body and symmetry are arranged on body side.Described control system 2 mainly comprises central controller 21, motor drive controller 22, power supply 23 and wireless communication unit 24; Wherein, power supply 23 connects central controller 21, motor drive controller 22 and wireless communication unit 24 respectively by power lead; Central controller 21 uses control line to be connected with electric machine controller 22 and wireless communication unit 24 respectively; Motor drive controller 22 is connected with motor 34 by control line.Described running gear is aforesaid pair of eccentric Variable Eccentricity obstacle detouring assembly, inside taking turns 32 is arranged on the output shaft/axle drive shaft 33 of motor 34 by drive hole 37, motor 34 is arranged on body 1 by motor fixing plate 35, further, two eccentric Variable Eccentricity obstacle detouring assembly 3 is that four symmetries are arranged on body 1 both sides.
As the improvement to the present embodiment, the front end of body 1 is provided with obstacle detouring strut member 25, and its bottom is provided with silaatic as skid resistant course.Anti-slip material can be silaatic, resin friction materials or aluminum matrix composite.
As to further improvement of this embodiment, body 1, in flat long and narrow structure, adopts this structure to make robot after turning on one's side, not affect it and walks.
Central controller 21, motor drive controller 22, power supply 23, wireless communication unit 24 and control circuit are fixedly mounted in body 1, in order to avoid center of gravity during robot motion is unbalance, preferably they are installed near robot center-of-gravity position, in this programme, they are loaded on center-of-gravity position and make its weight near center of gravity balanced as far as possible all around.
As Fig. 2, the drive hole 37 on the interior wheel 32 of two eccentric Variable Eccentricity Stump-jump wheel 3 is connected with the output shaft/axle drive shaft 33 of motor 34, and a corresponding two eccentric Variable Eccentricity Stump-jump wheel 3 of motor 34, adopts individual drive mode.The axle drive shaft 33 of motor 34 can drive all the time interiorly takes turns 32 rotations.
As Fig. 3,4, running gear in the utility model---the explosive view of two eccentric Variable Eccentricity Stump-jump wheel 3 and section-drawing.Two eccentric Variable Eccentricity Stump-jump wheel 3 is double eccentric wheel structure, and interior wheel 32 is fixed among foreign steamer 31, and inside taking turns 32 can rotate in foreign steamer 31, and interior wheel 32 except can rotating in foreign steamer 31, do not have other any unusual fluctuation.When interior take turns 32 turn to relevant position time, can utilize the first inhibiting device 361 coordinate the second inhibiting device 362 by interior take turns 32 locked, it is made no longer to rotate, but driving foreign steamer 31 to rotate together, this process is the pattern of running gear 3 between common circle wheel and the eccentric wheel of different eccentric throw and switches.In present design, first inhibiting device and the second inhibiting device are realized by foreign steamer 31 and the interior concavo-convex embedded mode design taking turns 32, namely the first inhibiting device is depressed part, and described second inhibiting device is the pars contractilis that can stretch into depressed part, and the explosive view as Fig. 4 is known.
Robot in the utility model can according to the maximum height of obstacle in obstacle detouring environment, the size of adjustment Stump-jump wheel eccentric throw, namely two eccentric Variable Eccentricity Stump-jump wheel 3 is the Stump-jump wheel of adjustable eccentric distance, namely to be matched incompatible change eccentric throw by pars contractilis and diverse location depressed part, the flexible of pars contractilis can by extraneous remote control.Eccentric throw is defined as the distance between axle drive shaft 33 axle center of motor 34 and foreign steamer 31 center (center of circle) of two eccentric Variable Eccentricity Stump-jump wheel 3.
In the utility model, the magnitude range of eccentric throw L be [0, R), wherein, R is the radius of the foreign steamer 31 of two eccentric Variable Eccentricity Stump-jump wheel 3.
If the axle center of hypothesis driven axle 33 is E to the distance on robot chassis, then the obstacle maximum height that can pass over of robot is close to R+L-E.
As Fig. 5, when eccentric throw is transferred to maximum by two eccentric Variable Eccentricity Stump-jump wheel 3, namely axle drive shaft is when the edge of foreign steamer 31, and the utility model can be done eccentric wheel foot constructed machine people and use, further, now robot can pass over its maximum height obstacle that can reach.
As Fig. 6, when eccentric throw is transferred to certain value L by two eccentric Variable Eccentricity Stump-jump wheel 3, the scope of this value is (0, R).Now, the utility model can be done eccentric wheel foot constructed machine people and use, and its obstacle clearing capability is R+L-E.Wherein, E is the distance of axle drive shaft 33 axle center to robot chassis of motor 34, and R is the radius of the foreign steamer 31 of two eccentric Variable Eccentricity Stump-jump wheel 3.
As Fig. 7, when eccentric throw is adjusted to minimum value 0 by two eccentric Variable Eccentricity Stump-jump wheel 3, this Stump-jump wheel switches to common circle wheel, and now, the utility model can be made common round wheel construction robot and use.
In the utility model, wheel biped robot has six kinds of manner of execution: reset, advance, retrogressing, left face, original place right-hand turning and stopping.Note, before robot performs corresponding manner of execution, generally first should adjust the eccentric throw of Stump-jump wheel to appropriate location, with the obstacle enabling robot cross corresponding height.
1) reset: automatically enter reset operation after being brought into operation by power supply 23 power supply, whether reset operation will be tested each functional component and normally work, and be supported by the robot being positioned over arbitrarily ground, and each parts are in readiness wait control signal.
2) advance: after robot receives progress signal, control circuit runs advance algorithm, and robot is walked forward, until receive other control signal.
When robot performs advance algorithm, be divided into two kinds of situations:
1. running gear (two eccentric Variable Eccentricity Stump-jump wheel) 3 is adjusted to common center of circle wheel
Under this gait, four round wheels of robot need keep same-phase to rotate.
2. running gear (two eccentric Variable Eccentricity Stump-jump wheel) 3 is adjusted to eccentric wheel
First, robot can according to the height of obstacle, the size of adjustment Stump-jump wheel eccentric throw, the magnitude range of eccentric throw be [0, R), wherein, R is the radius of the foreign steamer 31 of pair eccentric Variable Eccentricity Stump-jump wheel 3.If suppose, eccentric throw is L, and the axle center of axle drive shaft is E to the distance on robot chassis, then the obstacle maximum height that can pass over of robot is close to R+L-E.
Then, four eccentric wheel of robot keep same-phase to rotate.
3) retreat: what the body of a kind of pair of eccentric variable eccentric wheel biped robot adopted is partially flat long and narrow structure, and four two eccentric Variable Eccentricity Stump-jump wheels are the both sides that symmetry is arranged on body respectively, therefore, retrogressing is exactly the inverse motion moved ahead, and what show is exactly rotating backward of motor.
Attention: a kind of two eccentric variable eccentric wheel biped robot is when regular ground moves forward and backward, and running gear 3 is generally adjusted to common center of circle wheel; When carrying out moving forward and backward obstacle detouring in non-regular ground, running gear 3 is generally adjusted to eccentric wheel.
4) turn left: when robot receives the curved signal of flicker, control circuit performs turnon left algorithm, and robot is turned left, until receive other control signal.
The turning of robot adopts left-right mechanism differential mode, when body turns left, can adopt in two ways:
1. keep two motors (34) in left side motionless, two, right side motor (34) rotates forward an integer cycle (single cycle motor rotating 360 degrees) to reach desirable angle of turn requirement.
2. left motor (34) rotates backward, and right motor (34) rotates forward, and the range of rotation is the integral multiple of half period (motor revolves turnback).
Above two kinds of modes can reach the effect of turning, and the turn radius that the former needs is comparatively large, and the latter substantially can pivot turn.
5) right-hand rotation: when body is turned right, be an antiphase operation to turning left, principle is similar with left-hand rotation.
6) stop: after robot receives danger signal, control circuit runs shutdown procedure, cancels the drive control signal that each road is connected with driving circuit.Now, the motor 34 of the body left and right sides all stops operating, robot by slack, until receive other control signal.
The utility model is a kind of reliable, efficiency is high, earth's surface comformability is good, obstacle climbing ability is strong variable eccentric wheel biped robot of two eccentrics simple for structure.When it needs to walk in ground grading, the eccentric throw of running gear 3 can be adjusted to 0, now the utility model can do common round wheel construction robot use, and travel efficiency is high; When it needs to walk at uneven terrain, eccentric throw can be adjusted to (0, R) arbitrary value in (wherein, R is the radius of the foreign steamer 31 of Stump-jump wheel), now the utility model can do eccentric wheel foot constructed machine people use, obstacle climbing ability is strong, and can adapt to the obstacle of differing heights.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, obviously, those skilled in the art can carry out various change and modification to the utility model and not depart from spirit and scope of the present utility model.Like this, if these amendments of the present utility model and modification belong within the scope of the utility model claim and equivalent technologies thereof, then the utility model is also intended to comprise these change and modification.
Claims (8)
1. a two eccentric Variable Eccentricity obstacle detouring assembly, it is characterized in that: comprise being all and eccentricly interiorly take turns (32) and foreign steamer (31), described interior wheel is rotatingly arranged in foreign steamer, described interior external annular surface (321) of taking turns is provided with several the first inhibiting device (361), and the inner ring surface (311) of described foreign steamer is provided with the second inhibiting device (362) coordinated with the first inhibiting device.
2. according to claim 1 pair of eccentric Variable Eccentricity obstacle detouring assembly, it is characterized in that: described first inhibiting device is depressed part, described second inhibiting device is the pars contractilis that can stretch into depressed part.
3. according to claim 1 pair of eccentric Variable Eccentricity obstacle detouring assembly, is characterized in that: described interior take turns with foreign steamer on be provided with drive hole (37).
4. the wheel biped robot of a two eccentric Variable Eccentricity, comprise body (1), be arranged on the running gear (3) that the control system (2) of internal body and symmetry are arranged on body side, it is characterized in that: described running gear is two eccentric Variable Eccentricity obstacle detouring assembly, the described pair of eccentric Variable Eccentricity obstacle detouring assembly comprises being all eccentricly interiorly takes turns (32) and foreign steamer (31), described interior wheel is rotatingly arranged in foreign steamer, described interior external annular surface of taking turns is provided with several first inhibiting device (361), the inner ring surface of described foreign steamer is provided with the second inhibiting device (362) coordinated with the first inhibiting device.
5. the wheel biped robot of according to claim 4 pair of eccentric Variable Eccentricity, is characterized in that: described interior take turns with foreign steamer on be provided with drive hole (37).
6. the wheel biped robot of according to claim 4 pair of eccentric Variable Eccentricity, is characterized in that: described control system (2) mainly comprises central controller (21), motor drive controller (22), power supply (23) and wireless communication unit (24); Wherein, power supply (23) connects central controller (21), motor drive controller (22) and wireless communication unit (24) respectively by power lead; Central controller (21) uses control line to be connected with electric machine controller (22) and wireless communication unit (24) respectively; Motor drive controller (22) is connected with motor (34) by control line, motor (34) is arranged on body (1) by motor fixing plate (35), inside takes turns (32) and is arranged on the output shaft/axle drive shaft (33) of motor (34) by drive hole (37).
7. the wheel biped robot of according to claim 4 pair of eccentric Variable Eccentricity, is characterized in that: the front end of described body (1) is provided with obstacle detouring strut member (25), and its bottom is provided with skid resistant course.
8. the wheel biped robot of according to claim 4 pair of eccentric Variable Eccentricity, is characterized in that: described body (1) is in flat long and narrow structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520162854.XU CN204548268U (en) | 2015-03-20 | 2015-03-20 | A kind of two eccentric Variable Eccentricity obstacle detouring assembly and wheel biped robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520162854.XU CN204548268U (en) | 2015-03-20 | 2015-03-20 | A kind of two eccentric Variable Eccentricity obstacle detouring assembly and wheel biped robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104670355A (en) * | 2015-03-20 | 2015-06-03 | 西南大学 | Double-eccentric circle obstacle crossing assembly with variable eccentric distance and wheel-leg robot |
| WO2017102711A1 (en) * | 2015-12-16 | 2017-06-22 | Softbank Robotics Europe | Moving object with combined movement |
| CN108621679A (en) * | 2018-05-14 | 2018-10-09 | 朱敏 | It is a kind of to pass through change wheel of the wheel rail by road dental calculus |
| CN108927814A (en) * | 2018-08-01 | 2018-12-04 | 重庆电子工程职业学院 | Bionical foot component and bio-robot |
| CN109780372A (en) * | 2019-03-09 | 2019-05-21 | 深圳市厚德检测技术有限公司 | Pipe detection crawl device |
-
2015
- 2015-03-20 CN CN201520162854.XU patent/CN204548268U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104670355A (en) * | 2015-03-20 | 2015-06-03 | 西南大学 | Double-eccentric circle obstacle crossing assembly with variable eccentric distance and wheel-leg robot |
| WO2017102711A1 (en) * | 2015-12-16 | 2017-06-22 | Softbank Robotics Europe | Moving object with combined movement |
| FR3045763A1 (en) * | 2015-12-16 | 2017-06-23 | Aldebaran Robotics | MOBILE WITH COMBINED MOVEMENT |
| CN108367791A (en) * | 2015-12-16 | 2018-08-03 | 软银机器人欧洲公司 | Movable member with aggregate motion |
| CN108621679A (en) * | 2018-05-14 | 2018-10-09 | 朱敏 | It is a kind of to pass through change wheel of the wheel rail by road dental calculus |
| CN108927814A (en) * | 2018-08-01 | 2018-12-04 | 重庆电子工程职业学院 | Bionical foot component and bio-robot |
| CN109780372A (en) * | 2019-03-09 | 2019-05-21 | 深圳市厚德检测技术有限公司 | Pipe detection crawl device |
| CN109780372B (en) * | 2019-03-09 | 2020-04-21 | 深圳市厚德检测技术有限公司 | Pipeline detection crawler |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150812 Termination date: 20180320 |