CN205574096U - Sufficient formula robot system that switches of wheel - Google Patents

Abstract

The utility model proposes a wheel-foot switching robot system. A hexapod walking mechanism and a four-wheel moving mechanism are installed on the robot main disk at the same time, and the environmental obstacles are detected by the lower photoelectric sensor. When no obstacles are detected, the controller controls the The four-wheel mobile mechanism moves, and the wheeled walking can be applied to walking on flat roads. When the photoelectric sensor detects an obstacle, it transmits the obstacle signal to the controller in real time. The controller responds to the obstacle signal and controls the robot to switch from the four-wheel mobile mechanism. For the hexapod walking mechanism, the feet are more flexible, and it is easier to walk in obstacle roads. During the foot walking process, the feet support the ground to lift the main plate of the robot and drive the four walking wheels to lift, thereby preventing walking. The friction between the wheel and the ground also makes the foot position more flexible.

Description

Wheel-foot switching robot system

technical field

The utility model relates to the field of robots, in particular to a wheel-foot switching robot system.

Background technique

With the development of technology, robots are applied to all aspects of production and life. Robots with mobile functions are widely used in material handling in automated production workshops, interstellar exploration, ocean development, service, medical care, construction, agriculture and forestry, special industries (nuclear, polluted environment, etc.), military, etc.

The easiest and most direct way to make the robot move is to install wheels on it, which is a wheeled mechanism. This wheel-type "foot" can move stably at high speed, has a simple structure and is easy to operate, but it has relatively high requirements on the road surface and is only suitable for moving on flat ground. When the road surface is uneven, or even has high and low levels, the robot cannot pass. The existing method generally uses the robot to detour to avoid the obstacle section, but it is easy to make the robot deviate from the preset track. An error occurred, and the problem of walking in the high and low staggered road conditions still cannot be solved.

Utility model content

The technical problem to be solved by the utility model is to provide a wheel-foot switching robot system, which can switch between foot-walking and wheel-walking according to whether there are environmental obstacles, so as to overcome the problem of difficulty in walking under obstacle road conditions.

In order to solve the above problems, the utility model proposes a wheel-foot switching robot system, including: a robot main disk, a hexapod walking mechanism, a four-wheel moving mechanism, a photoelectric sensor, and a controller; An upward measuring rod; the six-legged walking mechanism includes six three-joint feet, and the six-foot three-joint feet are evenly spaced around the edge of the main disk of the robot; the four-wheel moving mechanism includes four Walking wheels, the four walking wheels are respectively arranged on the four centrally symmetrical positions of the main disk of the robot; the photoelectric sensor includes a lower photoelectric sensor, and the lower photoelectric sensor is arranged at a certain height of the measuring rod, It is used to detect environmental obstacles during the moving process of the robot and generate corresponding obstacle signals and transmit them to the controller in real time; when the controller does not receive the obstacle signal from the lower photoelectric sensor, it controls the hexapod walking mechanism When receiving the obstacle signal from the lower photoelectric sensor, the controller controls the six-legged walking mechanism to descend to support the ground, and controls the six-legged walking mechanism to walk.

According to an embodiment of the present invention, the photoelectric sensor also includes an upper photoelectric sensor for detecting environmental obstacles during the movement of the robot to generate an obstacle signal and transmit it to the controller in real time. The upper photoelectric sensor is set At a position of the measuring rod higher than the lower photoelectric sensor; the controller controls the four-wheel moving mechanism to stop moving or the hexapod walking mechanism to stop walking when receiving an obstacle signal from the upper photoelectric sensor.

According to an embodiment of the present invention, there is a scale on the measuring rod, and the lower photoelectric sensor and the upper photoelectric sensor are slidably connected to the measuring rod and can be locked on the measuring rod.

According to an embodiment of the present invention, the robot master plate includes an upper plate and a lower plate connected together at a certain distance from top to bottom, and both the upper plate and the lower plate are in the shape of a regular hexagon; the four wheels of the four-wheel moving mechanism Two walking wheels are arranged below the lower floor plate, and the six three-joint feet of the six-legged walking mechanism are respectively arranged at the middle position of each side of the upper floor plate; when the controller controls the six-legged walking mechanism to walk , The three three-jointed feet alternated with each other constituted a group of feet, and the two groups of feet were ordered to be lifted, stretched out, and lowered alternately in sequence.

According to an embodiment of the present invention, a vertically telescopic support part is provided in the center of the lower plate of the robot main disk, and the support part includes a circular plate for contacting the ground and a vertically telescopic support rod. One end of the pole is connected to the circular plate, and the other end is connected to the lower plate. When the pole is extended, the main plate of the robot can be lifted to lift the four-wheel moving mechanism off the ground.

According to one embodiment of the present utility model, it also includes a DC servo motor for driving under the control of the controller, and the DC servo motor includes 18 joints for driving the joints of the six three-joint feet. Digital steering gear, and 4 digital steering gears for driving four road wheels; the controller is a single-chip microcomputer, and the single-chip microcomputer has at least 4 digital steering gear control interfaces, and the first digital steering gear control interface is composed of The 4 walking wheels are occupied by digital steering gears, the second digital steering gear control interface is occupied by two forefoot joints using digital steering gears, the third digital steering gear control interface is occupied by two midfoot joints using digital steering gears, and the second digital steering gear control interface is occupied by two midfoot joints. The four digital servo control interfaces are occupied by digital servos for the joints of the two rear feet.

According to an embodiment of the utility model, the digital steering gears occupying the same digital steering gear control interface are connected in series through communication lines, and each digital steering gear adopts a half-duplex serial asynchronous bus communication mode, and each digital steering gear A different servo ID is assigned.

After adopting the above technical scheme, the utility model has the following beneficial effects compared with the prior art: a hexapod walking mechanism and a four-wheel moving mechanism are installed on the main plate of the robot at the same time, and the environmental obstacles are detected by the lower photoelectric sensor. When the object is detected, the controller controls the four-wheel moving mechanism to move. The wheeled walking can be applied to walking on flat roads. When the current photoelectric sensor detects an obstacle, it transmits the obstacle signal to the controller in real time. The controller responds to the obstacle signal and controls the robot from The four-wheel moving mechanism moves and switches to a six-legged walking mechanism for full-foot walking. The feet are more flexible and easier to walk in obstacles. The wheels are lifted to prevent the friction between the walking wheels and the ground, and also make the foot position more flexible.

Description of drawings

Fig. 1 is the structural block diagram of the wheel-foot switching type robot system of the utility model embodiment;

Fig. 2 is a schematic structural view of a wheel-foot switching robot according to an embodiment of the present invention;

Fig. 3 is a schematic flowchart of a control method of a wheel-foot switching robot according to an embodiment of the present invention.

detailed description

In order to make the above purpose, features and advantages of the present utility model more obvious and understandable, the specific implementation of the present utility model will be described in detail below in conjunction with the accompanying drawings.

In the following description, numerous specific details are set forth in order to provide a full understanding of the present invention. However, the utility model can be implemented in many other ways different from those described here, and those skilled in the art can do similar promotions without violating the connotation of the utility model, so the utility model is not limited by the specific implementation disclosed below .

Referring to FIG. 1 , the wheel-foot switching robot system of the present embodiment includes: a robot main board, a hexapod walking mechanism 2 , a four-wheel moving mechanism 3 , a photoelectric sensor, and a controller 5 . The hexapod walking mechanism 2, the four-wheel moving mechanism 3, the photoelectric sensor and the controller 5 are all arranged on the main disk of the robot. The walking of the six-leg walking mechanism 2 and the movement of the four-wheel moving mechanism 3 can drive the main disk of the robot, so that the whole The robot walks or moves. A vertically upward measuring rod is also arranged on the main disk of the robot.

Referring to FIG. 2 , the hexapod walking mechanism 2 includes six three-joint feet, which are evenly spaced around the edge of the robot's main disk. The three-joint feet are more flexible in movement, and are evenly spaced around the main disk of the robot, which can enhance the stability of the robot's walking and prevent the center of gravity of the robot from shifting during walking.

The four-wheel mobile machine 3 comprises four traveling wheels, and the four traveling wheels are respectively arranged on four positions symmetrical to the center of the main disk of the robot. Stuck, easy to control the direction of movement, and not easy to fall into the pit. Preferably, the four road wheels are distributed in pairs front and rear, so that the walking stability and steering reliability are higher, but this is not a limitation, and the four road wheels can also be arranged side by side, for example. Front and rear are relative, and the reference basis for the front and rear directions can be the forward direction of the robot.

The photoelectric sensor includes a lower photoelectric sensor 41, which is arranged at a certain height of the measuring rod, so as to detect whether there is an environmental obstacle in the front position of the height, and what the lower photoelectric sensor 41 detects is the environmental obstacle in front of the robot in the process of advancing object, the probe of the lower photoelectric sensor 41 faces forward. The lower photoelectric sensor 41 detects environmental obstacles during the movement of the robot, generates an obstacle signal correspondingly when detecting an environmental obstacle, and transmits the obstacle signal to the controller 5 in real time. When the controller 5 does not receive the obstacle signal of the lower photoelectric sensor 41, it controls the hexapod walking mechanism 2 to lift and controls the four-wheel moving mechanism 3 to move, and when receiving the obstacle signal of the lower photoelectric sensor 41, it controls the hexapod The walking mechanism 2 descends to support the ground, and controls the hexapod walking mechanism 2 to walk.

In one embodiment, the photoelectric sensor can also include an upper photoelectric sensor 42, and the upper photoelectric sensor 42 is arranged at a position higher than the lower photoelectric sensor 41 of the measuring rod, so when the upper photoelectric sensor 42 detects an obstacle, the lower photoelectric sensor 41 Obstacles are also detected accordingly. The lower photoelectric sensor 41 and the upper photoelectric sensor 42 may be infrared sensors, for example. During the moving process of the robot, the upper photoelectric sensor 42 and the lower photoelectric sensor 41 detect environmental obstacles at the same time, and when both detect environmental obstacles at the same time, correspondingly generate an obstacle signal, and transmit the obstacle signal to the controller 5 in real time, the controller 5. When receiving the obstacle signal of the upper photoelectric sensor 42, control the four-wheel mobile mechanism 3 to stop moving or the six-legged walking mechanism 2 to stop walking. When the sensor 42 can also detect an obstacle, it means that the height of the obstacle is too high, and the robot cannot walk over it by walking on its feet. Therefore, the controller 5 first controls to stop the robot from moving forward, and then can control the four-wheel mobile mechanism 3 to move backward. Make a back turn to get around the obstacle course.

Preferably, there is a scale on the measuring rod, and the lower photoelectric sensor 41 and the upper photoelectric sensor 42 are slidably connected to the measuring rod and can be locked on the measuring rod, so that the height of the obstacle that the robot can cross can be adjusted to It is suitable for robots of different scales, and the approximate height range of obstacles can be obtained according to the obstacle signals generated by the lower photoelectric sensor 41 and the upper photoelectric sensor 42 .

Referring to Fig. 2, in one embodiment, the robot main board may include an upper board 11 and a lower board 12 connected together, the upper board 11 and the lower board 12 are separated by a certain distance up and down, and the upper board 11 and the lower board 12 are regular hexagonal shape. The four walking wheels of the four-wheel mobile mechanism 3 are arranged under the lower floor plate 12, and the six three-joint feet of the hexapod walking mechanism 2 are respectively arranged at the middle position of each limit of the upper floor plate 11. Only the three-joint feet are lifted off the ground. Since the six three-joint feet are arranged on the upper board 11, and the four walking wheels are arranged below the lower board 12, there is a certain distance between the two, thereby reducing six The lifting distance of the feet of the three foot joints can reduce the overall energy consumption of the robot. When the controller 5 controls the hexapod walking mechanism 2 to walk, the three three-joint feet alternated (non-adjacent) on the upper plate 11 form a group of feet, and the two groups of feet are controlled to alternately lift, stretch out, lay down. During the walking process, the non-adjacent tripods can always land on the ground, and there are more support points on the ground, which improves the stability of the movement and does not easily cause the robot to fall over.

In one embodiment, a support part (not shown in the figure) that can be stretched up and down is also provided in the center of the lower plate 12 of the robot main disk. One end of the pole is connected to the circular plate, and the other end is connected to the lower plate 12. When the pole is extended, the main disk of the robot can be lifted to lift the four-wheel mobile mechanism 3 off the ground. When the robot stops working, the robot does not need to walk, and if the walking wheels are kept in contact with the ground, it is easy to cause damage to the walking wheels after a long time. Therefore, when the robot does not need to walk, it is supported by the support to make the four walking wheels off the ground , the six full feet are lifted in the initial state, so they also leave the ground when walking is not needed, which can prolong the service life of the walking mechanism of the robot. The supporting part is arranged in the center of the lower board 12 (certainly extending below the lower board), which can ensure the stability of the support.

Continuing to refer to FIG. 1 , the wheel-foot switching robot system also includes a DC servo motor 6 . The DC servo motor 6 is driven under the control of the controller 5 . The DC servo motor 6 can include 18 digital steering gears for joints and 4 digital steering gears for road wheels. Each walking wheel is provided with a walking wheel and drives walking with a digital steering gear, and each joint of the six feet 2 is provided with a joint with a digital steering gear to drive the action.

For example, the digital steering gear can adopt the model CDS5516 digital steering gear. The digital servo uses half-duplex serial asynchronous bus communication. Each digital servo has a signal interface. The signal interface is connected with the digital interface of the controller to receive the control signal. And these motors can be simply connected in series through communication lines. When controlling, you only need to assign different identification numbers to different digital steering gears to control the corresponding digital steering gears accordingly, so as to control the gait and speed of the robot's movement. and directions.

The controller 5 is a single-chip microcomputer, and the single-chip microcomputer has at least 4 digital steering gear control interfaces. The first digital steering gear control interface is occupied by 4 digital steering gears for walking wheels, and the second digital steering gear control interface is occupied by two forefoot joints. The steering gear is occupied, the third digital steering gear control interface is occupied by the digital steering gear for the joints of the two midfoot, and the fourth digital steering gear control interface is occupied by the digital steering gear for the joints of the two rear feet. In other words, the 4 walking wheels are connected with the digital steering gear through the communication line, and the last digital steering gear of the walking wheel is connected to the first digital steering gear control interface of the controller to receive the control signal; the two forefoot The joints of the joints are connected with the digital steering gear through the communication line, and the last joint in series is connected with the second digital steering gear control interface of the controller to receive the control signal; the joints of the two midfoot are connected with the digital steering gear The machines are connected through communication lines, and the last joint in series is connected to the third digital steering gear control interface of the controller with a digital steering gear to receive control signals; the joints of the two rear feet are connected through a communication The last digital steering gear connected in series is connected to the fourth digital steering gear control interface of the controller to receive control signals. Each digital steering gear has a different identification number, and each digital steering gear receives as its own control signal according to the identification number carried by the control signal.

Preferably, the landing part 21 of each foot of the six feet is L-shaped, and the transverse part of the L-shaped landing part 21 of each foot is connected with the joint at the front end, and the L-shaped landing part 21 of each foot is Part or all of the vertical part is bent toward the horizontal part, and the vertical part is used for landing support, and the right-angle side of the L-shaped landing part 21 of each foot is set to face the robot main plate. That is to say, the vertical part of the L-shaped landing part 21 is bent toward the main plate of the robot, and the landing parts 21 of the six feet tend to approach each other, which is more stable when supporting the ground.

Referring to Fig. 3, the utility model also provides a control method of the wheel-foot switching robot system as described in any one of the foregoing embodiments, including the following steps:

S1: In the initial state, the controller controls the movement of the four-wheel moving mechanism to realize the wheeled walking of the robot;

S2: During the movement of the robot, the lower photoelectric sensor detects environmental obstacles, and if an environmental obstacle is detected, an obstacle signal is generated correspondingly and transmitted to the controller in real time;

S3: The controller controls switching to walking on feet in response to the obstacle signal, controls the four-wheel moving mechanism to stop moving, and the six-legged walking mechanism to walk, so that the robot crosses environmental obstacles;

S4: The controller switches back to the four-wheel mobile mechanism to move after the robot crosses the obstacle.

The control method of the wheel-foot switching robot system of the present invention will be further described in detail below with reference to FIGS. 1-3 .

In step S1, the robot is started, and the initial state is wheeled walking. The controller 5 controls the four-wheeled moving mechanism 3 to move. At this time, the six three-joint feet of the hexapod walking mechanism 2 are lifted off the ground, and the wheeled walking is suitable for the robot. Walking on flat ground.

Next, in step S2, during the wheeled walking process of the robot, the lower photoelectric sensor 41 continuously detects the environmental obstacles in front of the walking, if an environmental obstacle is detected, an obstacle signal is generated correspondingly, and the obstacle signal is transmitted to the controller in real time 5.

Optionally, when the lower photoelectric sensor 41 and the upper photoelectric sensor 42 are set on the robot main disk, in step S2, during the movement of the robot, the lower photoelectric sensor 41 and the upper photoelectric sensor 42 simultaneously detect environmental obstacles, if the lower When the photoelectric sensor 41 and/or the upper photoelectric sensor 42 detect an environmental obstacle, they respectively generate an obstacle signal and transmit it to the controller 5 in real time.

Then, in step S3, when only the lower photoelectric sensor 41 is set on the robot main board, the controller 5 receives the obstacle signal of the lower photoelectric sensor 41, and then controls the four-wheel moving mechanism 3 to stop moving, and controls the hexapod walking mechanism 2 to walk , to switch the walking style to full-footed walking to cross obstacles.

When the lower photoelectric sensor 41 and the upper photoelectric sensor 42 are set on the main disk of the robot, then in step S3, if the controller 5 only receives the obstacle signal of the lower photoelectric sensor 41, then the control is switched to walk with feet. 5 Receive the obstacle signals of both the lower photoelectric sensor 41 and the upper photoelectric sensor 42 at the same time, then control the four-wheel mobile mechanism 3 to retreat and turn, to avoid environmental obstacles, prevent the obstacles from being too high and make it difficult for the robot to walk on its feet status.

Next, in step S4, if the robot switches to walking on its feet and crosses obstacles, the controller 5 controls to switch back to the four-wheel moving mechanism 3 to move again. A distance sensor can be set on the lower surface of the lower plate 12 of the robot, and the distance sensor senses its distance to the ground. On the obstacle road section, the distance is small, and after crossing the obstacle road section, the distance becomes larger and remains unchanged. At this time, the distance sensor can be controlled. Switch back to four-wheel locomotion mechanism 3 locomotion to reduce power consumption of the robot system.

In one embodiment, in the initial state, the six three-joint feet of the hexapod walking mechanism 2 are lifted off the ground. When switching to walking with feet, the controller 5 controls the six three-joint feet to descend to support the ground. The three three-joint feet alternately on the main board of the robot form a group of feet, and the controller 5 then controls the two groups of feet in turn. Alternately lift, extend, and lower.

For other content of the control method of the wheel-foot switching robot system of the present invention, please refer to the description of the wheel-foot switching robot system of the present invention, and the similarities will not be repeated here.

Although the utility model is disclosed as above with preferred embodiments, it is not used to limit the claims, and any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the utility model, so The scope of protection of the utility model shall be defined by the claims of the utility model.

Claims (7)

1. a wheel foot suitching type robot system, it is characterised in that including: robot master, six foot steps Row mechanism, four-wheel travel mechanism, photoelectric sensor, controller；Described robot master is provided with vertical Straight analyzing rod upwards；Described six-legged walking machine structure includes six three joint foot feet, described six foot three joint foots Foot uniform intervals is around the position, edge being arranged on described robot master；Described four-wheel travel mechanism includes four Individual road wheel, described four road wheels are separately positioned on be centrosymmetric four portions of described robot master On position；Described photoelectric sensor includes that lower photoelectric sensor, described lower photoelectric sensor are arranged on analyzing rod On certain altitude, in order to detection Environment Obstacles thing in robot moving process, corresponding dyspoiesis signal is also Real-time Transmission gives described controller；Described controller is not receiving the obstacle signal of described lower photoelectric sensor Time control described six-legged walking machine structure and lift and control described four-wheel travel mechanism and move, described controller exists Control described six-legged walking machine structure when receiving the obstacle signal of described lower photoelectric sensor to decline to support ground Face also controls the walking of described six-legged walking machine structure.

2. wheel foot suitching type robot system as claimed in claim 1, it is characterised in that described photoelectric transfer Sensor also includes that corresponding dyspoiesis signal is also in order to detection Environment Obstacles thing in robot moving process Real-time Transmission gives the upper photoelectric sensor of described controller, and described upper photoelectric sensor is arranged on described analyzing rod The position higher than described lower photoelectric sensor；The obstacle letter of described controller photoelectric sensor on receiving Number time control described four-wheel travel mechanism and stop mobile or described six-legged walking machine structure and stop walking.

3. wheel foot suitching type robot system as claimed in claim 2, it is characterised in that described analyzing rod On have scale, described lower photoelectric sensor and upper photoelectric sensor slidable connection on described analyzing rod, And can be locked on described analyzing rod.

4. wheel foot suitching type robot system as claimed in claim 1, it is characterised in that described robot Master includes the top plate linked together the most separated by a distance and lower plywood, described top plate and lower floor Plate is all in regular hexagon；Four road wheels of described four-wheel travel mechanism are arranged on the lower section of described lower plywood, Six three joint foot feet of described six-legged walking machine structure are separately positioned on the centre position of top plate each edge；Institute When stating controller control described six-legged walking machine structure walking, three alternate three joint foot feet are one group of foot foot, Two groups of foot feet are controlled the most alternately to be lifted, stretch out, put down.

5. wheel foot suitching type robot system as claimed in claim 4, it is characterised in that at described machine The central authorities of the lower plywood of people's master are additionally provided with the supporting part that can stretch up and down, described supporting part include for The plectane of ground contact and the pole that can stretch up and down, the described plectane of one end connection of described pole, the other end Connect described lower plywood, during the elongation of described pole can lifting robot master thus four-wheel travel mechanism is lifted Overhead.

6. wheel foot suitching type robot system as claimed in claim 1, it is characterised in that also include in order to The DC servo motor driven under the control of described controller, described DC servo motor includes 18 use To drive the pass in each joint of six three joint foot feet to save digital rudder controller, and 4 in order to drive four walkings The road wheel digital rudder controller of wheel；Described controller is single-chip microcomputer, and described single-chip microcomputer has at least 4 railway digitals Rudder control interface, the first digital rudder controller controls interface and is taken by 4 road wheel digital rudder controllers, the second number Word rudder control interface is saved digital rudder controller by the pass of two front foots and is taken, the 3rd digital rudder controller control interface by The pass of two mesopodiums is saved digital rudder controller and is taken, and the 4th digital rudder controller controls interface and saved by the pass of two metapedes Digital rudder controller takies.

7. wheel foot suitching type robot system as claimed in claim 6, it is characterised in that take same number Being serially connected by connection between the digital rudder controller of word rudder control interface, each digital rudder controller uses half pair Work asynchronous serial bus communication mode, and each digital rudder controller is assigned different steering wheel mark.