CN204915891U - Wheeled wheeled motion of lift type biped and robot - Google Patents
Wheeled wheeled motion of lift type biped and robot Download PDFInfo
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- CN204915891U CN204915891U CN201520265224.5U CN201520265224U CN204915891U CN 204915891 U CN204915891 U CN 204915891U CN 201520265224 U CN201520265224 U CN 201520265224U CN 204915891 U CN204915891 U CN 204915891U
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Abstract
The utility model provides a wheeled wheeled motion of lift type biped and robot. Wherein, the wheeled motion of wheeled lift type biped, including chassis and gyro wheel, its characterized in that: the gyro wheel is set inside the chassis, sets up the lift passageway in the chassis, the gyro wheel is connected with elevating system, and under elevating system's drive, the lift passageway of gyro wheel along the chassis in descends and stretch out inside the chassis lower part rises to the chassis on or, realizes sufficient formula and wheeled switching. The biped that adopts the robot of the wheeled motion of the biped move mode of walking has very high flexibility, and wheeled move mode has on smooth road surface that translation rate is fast, the good advantage of stability, can realize in addition the biped walk and two kinds of removal forms of wheeled removal between steadily switch over, wheeled mode and sufficient formula mode do not influence each other, have improved the environmental suitability and the work efficiency of robot greatly.
Description
Technical field
The utility model relates to robot motion's mechanism technology field, specifically, relates to the biped wheeled kinematic mechanism of a kind of wheeled lifting type and robot
Background technology
In recent years, along with the development of information techenology, automatic control technology, mechanics of communication etc., make the automation of robot, intelligence degree more and more higher, robot more and more enters people's daily life, change the life style of people and become possibility, design robot cleverly and not only replace the mankind to complete various operation, and can in a lot of the ability of the expansion mankind, in manufacture, the service of the mankind, medical treatment, education, multiple field such as amusement, military affairs, plays an important role.
The locomitivity of robot is a critical function index of robot, and at present, the kinematic mechanism of common robot comprises sufficient formula, crawler type, wheeled, wherein, foot formula has higher alerting ability and manoevreability, easily adapts to various ground environment, but has slow shortcoming; Crawler type kinematic mechanism has higher adaptive capacity in soft, rugged ground environment, but there is the shortcomings such as friction drag is large, energy consumption is high; Wheel type motion mechanism has that speed is fast, low power consumption and other advantages, but is not suitable for crossing over the obstacles such as gully, step, stair, and obstacle climbing ability is poor.
In applications such as detection, scoutings, require that robot has excellent obstacle climbing ability, and in service field, require the features such as robot has flexibly, moving velocity is fast, good stability, as can be seen here, in different application scenarios, different requirements is had from dynamic kinetic force to the kinematic mechanism of robot, and common sufficient formula, crawler type, wheeled mode, any single mode all has the defect that cannot eliminate, and therefore, carries out composite structure design, having complementary advantages, is improve robot motion's ability and adaptive necessary choice.
Chinese invention patent (application number: 200510004969.7), propose the composite structure of a kind of wheeled, crawler type and sufficient formula, but the robot architecture designed by it is still based on wheeled and crawler type, aiding overpass obstacle effect is only played by Tui Shi mechanism, does not possess perfect movement and operator perforniance; Another patent of invention (application number: 201110353199.2), propose a kind of anthropomorphic robot with double feet walking and wheel type mobile change function, realize robot to realize independently switching between double feet walking and wheel type mobile two kinds of mobile forms, but the mode of its wheeled switching needs the mechanisms such as robot hip joint, waist joint, both arms to support, conversion process is loaded down with trivial details, poor stability, Applicable scope is little.
Therefore, the design of composite-motion mechanism and control system remains an important research direction of robot, has and promotes greatly and room for improvement.
Utility model content
The utility model is conceived to the design of robot composite-motion mechanism, and for the autonomous switching of the foot sport and wheel type movement that realize robot motion, its concrete technical scheme is as follows:
The biped wheeled kinematic mechanism of wheeled lifting type, comprises chassis and roller, and described roller is embedded at inside chassis, arranges hoist trunk in chassis; Described roller is connected with lifting mechanism, and under the drive of lifting mechanism, roller declines along the hoist trunk in chassis and stretches out bottom, chassis or rise to inside chassis, realizes sufficient formula and wheeled switching.
Further, described lifting mechanism comprises motor, transmission shaft and leading screw, and described leading screw one end is connected with transmission shaft, and the other end is crossed connecting device and is connected with roller; Motor drives screw turns through transmission shaft, thus drives roller lifting.
Preferably, described roller comprises drive wheel and flower wheel, and described flower wheel is cardan wheel.
Further, described transmission shaft comprises main shaft and at least 2 from axle, is describedly connected from axle with leading screw, is respectively used to the lifting of drive wheel and flower wheel.
Preferably, arrange 2 and be connected with drive wheel from axle and leading screw, for the lifting of drive wheel; Article 1, be connected from axle and leading screw with flower wheel, for the lifting of flower wheel.
Further, described drive wheel is connected with the movable block of bilateral by bilateral wheel shaft, and described bilateral activity block connects 2 leading screws respectively; Chassis arranges the lifting groove of movable block, and movable block is arranged in described lifting groove, under the drive of leading screw, realize vertical lift.
Further, described cardan wheel is connected with leading screw by a fixed way, and described fixed way comprises fixed disc, and described leading screw is fixedly connected with fixed disc; Arrange half enclosing cover below fixed disc, described cardan wheel is arranged in described cover body, with fixed disc sliding block joint; Described fixed way both sides arrange locating piece; Chassis arranges locating piece lifting groove, and locating piece is arranged in described lifting groove, realizes fixed way together with flower wheel vertical lift under the drive of leading screw.
In addition, the DC servo motor of servomotor and the driving wheel-type movement driving sufficient formula to move also is comprised.
Have a robot for biped and wheeled handoff functionality, comprise robot body, the bilateral foot of described robot body arranges the biped wheeled kinematic mechanism of wheeled lifting type.
Further, the control system also arranging distance measuring sensor and be connected by bus with lifting mechanism, for detecting in the setpoint distance of front whether have obstacle, provides external movement environmental information independently to convert mode of motion.
The biped wheeled kinematic mechanism of wheeled lifting type provided by the utility model and robot, have the following advantages:
The first, there is sufficient formula and roller dual structure, freely changing of double feet walking and wheel type mobile can be realized, to different road of ground surface portions, there is applicability widely, when road surface open smooth time, employing roller type moves, and accelerates to advance paces, when meeting step or ladder, switch to double feet walking state, paces are steadily flexible;
The second, be independent of each other when sufficient formula and each self-operating of wheel type movement process: during double feet walking, roller is hidden within chassis, and when wheeled operation, roller stretches out vola under the drive of lifting mechanism, and switch rapidly, stability is strong;
Three, adopt the lifting mechanism of driven by motor leading screw, and in chassis, hoist trunk is set, make lifting process steady, be easy to control;
Four, adopt the setting of drive wheel and flower wheel, stability improves, and flower wheel elects cardan wheel as, is easy to adjustment direction.
Accompanying drawing explanation
Fig. 1 is the biped wheeled kinematic mechanism structural representation of wheeled lifting type;
The biped wheeled robot architecture's schematic diagram of the wheeled lifting type of Fig. 2.
Mark in figure:
1: main shaft; 2: from axle; 3: leading screw; 4: fixed way; 401: fixed disc; 402: cover body; 403: locating piece; 5: lifting groove; 6: flower wheel; 7: chassis; 8: movable block; 9: wheel shaft; 10: drive wheel; 11: motor.
Detailed description of the invention
Below in conjunction with drawings and Examples, the biped wheeled kinematic mechanism of the wheeled lifting type of the utility model and robot are described in further detail.
With reference to Fig. 1, the biped wheeled kinematic mechanism of wheeled lifting type, comprise chassis and roller, described roller is embedded at inside chassis, comprises drive wheel 10 and flower wheel 6, described flower wheel 6 is cardan wheel, drive wheel 10 is connected with lifting mechanism with flower wheel 6, and described lifting mechanism comprises motor 11, transmission shaft and leading screw 3, under the drive of lifting mechanism, roller declines along the hoist trunk in chassis and stretches out bottom, chassis or rise to inside chassis, realizes sufficient formula and wheeled switching.
One of them preferred version is: described transmission shaft comprises main shaft and 3 leading screw from axle and correspondence, and wherein 2 are connected from axle and leading screw with drive wheel 10, and for the lifting of drive wheel, 1 is connected from axle and leading screw with flower wheel, for the lifting of flower wheel.Motor drives screw turns through transmission shaft, thus drives roller lifting.Described cardan wheel is connected with leading screw by a fixed way 4, and described fixed way comprises fixed disc 401, and described leading screw is fixedly connected with fixed disc 401; Arrange half enclosing cover 402 below fixed disc 401, described cardan wheel is arranged in described cover body 402, with fixed disc sliding block joint, and can carry out 360 degree of rotations; Described fixed way 4 both sides arrange locating piece 403, and described locating piece 403 is arranged in the lifting groove 5 on chassis, realize fixed way together with flower wheel vertical lift under the drive of leading screw.Drive wheel is connected with the movable block of bilateral by bilateral wheel shaft, and described bilateral activity block connects 2 leading screws respectively, and described movable block is arranged in the lifting groove 5 on chassis, under the drive of leading screw, realize vertical lift
In addition, the biped wheeled kinematic mechanism of described wheeled lifting type also comprises the DC servo motor of servomotor and the driving wheel-type movement driving sufficient formula to move, and is the driver train of sufficient formula or wheel type movement.
The biped wheeled kinematic mechanism of described wheeled lifting type is preferably combined with robot, makes a kind of robot with biped and wheeled handoff functionality, comprises robot body, and its bilateral foot arranges the biped wheeled kinematic mechanism of wheeled lifting type.As apolegamy mechanism, the control system that this robot is also arranged distance measuring sensor and is connected by bus with lifting mechanism, for detecting in the setpoint distance of front whether have obstacle, provides external movement environmental information independently to convert mode of motion.The robot manufactured adopts double feet walking move mode, has very high alerting ability, takes into account again wheel type mobile mode, has that moving velocity is fast, the advantage of good stability in flat road surface.Can realize steadily switching between double feet walking and wheel type mobile two kinds of mobile forms, wheeled mode and sufficient formula mode are independent of each other, and substantially increase compatible with environment and the work efficiency of robot.
As described above, be only preferred embodiment of the present utility model, the scope of the utility model enforcement can not be limited with this, namely the simple equivalence change in every case done according to the utility model claim and utility model description with modify, all still belong in scope that the utility model patent contains.
Claims (10)
1. the biped wheeled kinematic mechanism of wheeled lifting type, comprises chassis and roller, it is characterized in that: described roller is embedded at inside chassis, arranges hoist trunk in chassis; Described roller is connected with lifting mechanism, and under the drive of lifting mechanism, roller declines along the hoist trunk in chassis and stretches out bottom, chassis or rise to inside chassis, realizes sufficient formula and wheeled switching.
2. the biped wheeled kinematic mechanism of wheeled lifting type according to claim 1, is characterized in that: described lifting mechanism comprises motor, transmission shaft and leading screw, and described leading screw one end is connected with transmission shaft, and the other end is crossed connecting device and is connected with roller; Motor drives screw turns through transmission shaft, thus drives roller lifting.
3. the biped wheeled kinematic mechanism of wheeled lifting type according to claim 2, is characterized in that: described roller comprises drive wheel and flower wheel, and described flower wheel is cardan wheel.
4. the biped wheeled kinematic mechanism of wheeled lifting type according to claim 3, is characterized in that: described transmission shaft comprises main shaft and at least 2 from axle, is describedly connected from axle with leading screw, is respectively used to the lifting of drive wheel and flower wheel.
5. the biped wheeled kinematic mechanism of wheeled lifting type according to claim 4, is characterized in that: arrange 2 and be connected with drive wheel from axle and leading screw, for the lifting of drive wheel; Article 1, be connected from axle and leading screw with flower wheel, for the lifting of flower wheel.
6. the biped wheeled kinematic mechanism of wheeled lifting type according to claim 5, is characterized in that: described drive wheel is connected with the movable block of bilateral by bilateral wheel shaft, and described bilateral activity block connects 2 leading screws respectively; Chassis arranges the lifting groove of movable block, and movable block is arranged in described lifting groove, under the drive of leading screw, realize vertical lift.
7. the biped wheeled kinematic mechanism of wheeled lifting type according to claim 5, is characterized in that: described cardan wheel is connected with leading screw by a fixed way, and described fixed way comprises fixed disc, and described leading screw is fixedly connected with fixed disc; Arrange half enclosing cover below fixed disc, described cardan wheel is arranged in described cover body, with fixed disc sliding block joint; Described fixed way both sides arrange locating piece; Chassis arranges locating piece lifting groove, and locating piece is arranged in described lifting groove, realizes fixed way together with flower wheel vertical lift under the drive of leading screw.
8. the biped wheeled kinematic mechanism of wheeled lifting type according to claim 1, is characterized in that: also comprise and drive the servomotor of sufficient formula motion and the DC servo motor of driving wheel-type movement.
9. have a robot for biped and wheeled handoff functionality, it is characterized in that: comprise robot body, the bilateral foot of described robot body arranges the biped wheeled kinematic mechanism of wheeled lifting type as claimed in claim 1.
10. a kind of robot with biped and wheeled handoff functionality according to claim 9, it is characterized in that: control system distance measuring sensor being also set and being connected by bus with lifting mechanism, for detecting in the setpoint distance of front whether have obstacle, provide external movement environmental information independently to convert mode of motion.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520265224.5U CN204915891U (en) | 2015-04-29 | 2015-04-29 | Wheeled wheeled motion of lift type biped and robot |
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| CN201520265224.5U CN204915891U (en) | 2015-04-29 | 2015-04-29 | Wheeled wheeled motion of lift type biped and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184455A (en) * | 2015-04-29 | 2016-12-07 | 青岛通产智能机器人有限公司 | The biped wheeled robot of wheeled lifting type |
| CN111252161A (en) * | 2020-02-25 | 2020-06-09 | 江苏工程职业技术学院 | Foot structure of dual-purpose bionic robot for sand land and flat land |
-
2015
- 2015-04-29 CN CN201520265224.5U patent/CN204915891U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184455A (en) * | 2015-04-29 | 2016-12-07 | 青岛通产智能机器人有限公司 | The biped wheeled robot of wheeled lifting type |
| CN111252161A (en) * | 2020-02-25 | 2020-06-09 | 江苏工程职业技术学院 | Foot structure of dual-purpose bionic robot for sand land and flat land |
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Effective date of registration: 20191209 Address after: 266000 No. 2 Juxianqiao Road, Qingdao High-tech Zone, Shandong Province Patentee after: Qingdao TONGCHAN intelligent Polytron Technologies Inc Address before: 266071 Shandong Province, Qingdao city Shandong Road No. 9, block A, 21E Industry Center Patentee before: QINGDAO TONGCHAN INTELLIGENT ROBOT CO., LTD. |