CN204701690U - Foot combines with wheel the mobile robot designed - Google Patents
Foot combines with wheel the mobile robot designed Download PDFInfo
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- CN204701690U CN204701690U CN201520274703.3U CN201520274703U CN204701690U CN 204701690 U CN204701690 U CN 204701690U CN 201520274703 U CN201520274703 U CN 201520274703U CN 204701690 U CN204701690 U CN 204701690U
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- mobile robot
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Abstract
The utility model discloses a kind of foot and combine with wheel the mobile robot designed, its travel mechanism is constituted jointly by foot and wheel.Foot adopts joint series design, can realize multifreedom motion; Wheel motor drives, and takes turns and adopts motor to be connected between foot, free to rotate.Foot realizes the various state of kinematic motions of robot with wheel matching design.Robot disclosed in the utility model both can imitate Reptilia with sufficient movement, can also take turns Direct driver; More existing robot is more flexible and changeable, mobile and turning speed is faster, and standard of fuselage can be kept on rough road surface to move, better can adapt to working environment, has higher practical value.
Description
Technical field
The utility model relates to a kind of mobile robot, especially relates to and adopts sufficient mechanism to be combined the mobile robot designed with wheel mechanism.
Background technology
Combining with wheel the mobile robot designed based on foot is a kind of Novel movable robot, can not only imitate Reptilia, use sufficient crawling exercises; 4-wheel driven car can also be imitated move ahead, retreat and turn to.By sufficient mechanism and wheel mechanism united application, more function will be realized, thus make robot flexible and changeable, better can adapt to external environment, and can move in rugged environment in the wild, can also ladder be climbed.
At present, all studying Robotics energetically both at home and abroad, various types of robot emerges in an endless stream, and is widely used in the industries such as industry, agricultural, medical treatment, military affairs, home services.The foot that main employing is single on robot motion and wheel two kinds of modes, creeped as by foot, or rolled by wheel.Single kinematic mechanism has the following disadvantages: (1) moves single, underaction; (2) robot of Zu Shi mechanism moves needs the multi-joint coordinated movement of various economic factors, control complicated, and kinematic velocity is slow, turns to dumb; (3) wheeled construction robot motion is fast, but only adapts in the environment of ground even, step of can not ascending; (4) robot can not modification; (5) adaptive capacity to environment is not strong.
Summary of the invention
In order to make up the deficiency that existing robot moving mechanism exists, the utility model provides a kind of foot to combine with wheel the mobile robot designed.
The utility model solves the technical scheme that its technical matters adopts: a kind of foot combines with wheel the mobile robot designed, comprise sufficient mechanism, wheel mechanism and fuselage, it is characterized in that sufficient mechanism and wheel mechanism series connection, multiple sufficient mechanism and wheel mechanism are in parallel again forms robot moving mechanism.
Wherein, sufficient mechanism is made up of rod member, is connected between rod member with rod member by motor, and motor is controlled by robot controller, and two rod members realizing connecting rotate in certain angle.
Wherein, sufficient mechanism and robot fuselage adopt flexible connection mode, can rotate arbitrarily.
Wherein, sufficient mechanism and wheel mechanism adopt motor to be connected, and are rotated around sufficient mechanism by motor driving wheel mechanism.
Wherein, the wheel in wheel mechanism is driven by motor, and can positive and negatively rotate, and speed is adjustable.
The beneficial effects of the utility model: sufficient mechanism and wheel mechanism are combined design, forms new robot moving mechanism.Robot can not only be creeped by foot, can also rotate with wheel; Wheel can also freely rotate, and facilitates robot to turn to and moves.Adopt the robot of this mechanism to have running velocity fast, can also move on severe road surface in ladder, mountain region etc.; Can also reduce and raise robot simultaneously, to have the scene of limitation in height by some, the advantages such as more existing robot is more flexible and changeable, and applicability is stronger.
Accompanying drawing explanation
Fig. 1 is integrally-built a kind of embodiment of the present utility model.
Fig. 2 is a kind of embodiment of sufficient mechanism of the present utility model.
Fig. 3 is a kind of embodiment of wheel mechanism of the present utility model.
Fig. 4 is a kind of embodiment that travel mechanism of the present utility model is connected with fuselage.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Embodiment 1:
As seen from Figure 1, foot of the present utility model combines a kind of embodiment of the mobile robot designed with wheel, and the travel mechanism of robot composes in parallel by after four Ge Zu mechanisms and wheel mechanism series connection again, and each parallel institution is made up of rod member 4, wheel mechanism 5.Connected by motor 2 between rod member, realize the relative motion between two rod members.The path of motion of planning four-footed, can realize robot and move.
Embodiment 2:
As shown in Figure 2, sufficient mechanism of the present utility model is made up of rod member 4 and motor 2, connects two rod members by motor 2, realizes the how automatic degree motion of sufficient mechanism.
Embodiment 3:
As shown in Figure 3, wheel mechanism of the present utility model is made up of wheel 7 and motor 6, and wheel mechanism adopts motor 5 to be connected with sufficient mechanism end, realize the rotary motion of sufficient mechanism and wheel mechanism, and it is controlled to move.Wheel can, by DC machine or driving stepper motor, can positive and negatively rotate, and velocity of rotation be adjustable.
Embodiment 4:
As shown in Figure 4, sufficient mechanism adopts with robot fuselage 1 and is flexibly connected, and adopts which to connect, makes robot flexible and changeable, changes the relative position of travel mechanism and fuselage by foot and the position of wheel.
Above a kind of sufficient mechanism provided by the utility model and wheel mechanism robot designed in conjunction are described in detail, apply specific case herein to set forth principle of the present utility model and embodiment, the explanation of above embodiment just understands method of the present utility model and core concept thereof for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, in sum, the utility model content should not be construed as restriction of the present utility model.
Claims (5)
1. foot combines with wheel the mobile robot designed, and comprises sufficient mechanism, wheel mechanism and fuselage, it is characterized in that, sufficient mechanism and wheel mechanism series connection, multiple sufficient mechanism and wheel mechanism are in parallel again forms robot moving mechanism.
2. foot according to claim 1 combines with wheel the mobile robot designed, it is characterized in that, described sufficient mechanism is made up of rod member (4), be connected by motor (2) between rod member with rod member, motor (2) is controlled by robot controller, realizes two rod members and rotates in certain angle.
3. foot according to claim 1 combines with wheel the mobile robot designed, and it is characterized in that, sufficient mechanism and robot fuselage (1) adopt flexible connection mode, can rotate arbitrarily.
4. foot according to claim 1 combines with wheel the mobile robot designed, and it is characterized in that, described sufficient mechanism and wheel mechanism adopt motor (5) to be connected, and are rotated around sufficient mechanism by motor driving wheel mechanism.
5. foot according to claim 1 combines with wheel the mobile robot designed, and it is characterized in that, the wheel (7) in described wheel mechanism is driven by motor (6), and can positive and negatively rotate, and speed is adjustable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520274703.3U CN204701690U (en) | 2015-05-02 | 2015-05-02 | Foot combines with wheel the mobile robot designed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520274703.3U CN204701690U (en) | 2015-05-02 | 2015-05-02 | Foot combines with wheel the mobile robot designed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204701690U true CN204701690U (en) | 2015-10-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520274703.3U Expired - Fee Related CN204701690U (en) | 2015-05-02 | 2015-05-02 | Foot combines with wheel the mobile robot designed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204701690U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107719504A (en) * | 2017-10-11 | 2018-02-23 | 深圳市普渡科技有限公司 | It is a kind of can Omni-mobile robot |
| CN107757748A (en) * | 2017-10-11 | 2018-03-06 | 深圳市普渡科技有限公司 | A kind of robot steering wheel device |
| WO2020034974A1 (en) * | 2018-08-13 | 2020-02-20 | 诸暨市蓝了电子科技有限公司 | Multi-legged wheeled robot |
| CN113064421A (en) * | 2021-03-08 | 2021-07-02 | 上海工程技术大学 | Portable multi-mode mobile robot |
-
2015
- 2015-05-02 CN CN201520274703.3U patent/CN204701690U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107719504A (en) * | 2017-10-11 | 2018-02-23 | 深圳市普渡科技有限公司 | It is a kind of can Omni-mobile robot |
| CN107757748A (en) * | 2017-10-11 | 2018-03-06 | 深圳市普渡科技有限公司 | A kind of robot steering wheel device |
| CN107757748B (en) * | 2017-10-11 | 2024-04-09 | 深圳市普渡科技有限公司 | Steering wheel device of robot |
| WO2020034974A1 (en) * | 2018-08-13 | 2020-02-20 | 诸暨市蓝了电子科技有限公司 | Multi-legged wheeled robot |
| CN113064421A (en) * | 2021-03-08 | 2021-07-02 | 上海工程技术大学 | Portable multi-mode mobile robot |
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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: 20151014 Termination date: 20160502 |
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| CF01 | Termination of patent right due to non-payment of annual fee |