CN206218051U - A kind of wheel-leg combined type robot architecture of changeable move mode - Google Patents
A kind of wheel-leg combined type robot architecture of changeable move mode Download PDFInfo
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- CN206218051U CN206218051U CN201621313078.XU CN201621313078U CN206218051U CN 206218051 U CN206218051 U CN 206218051U CN 201621313078 U CN201621313078 U CN 201621313078U CN 206218051 U CN206218051 U CN 206218051U
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- wheel
- joint
- steering wheel
- bionic limb
- changeable
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Abstract
The utility model discloses a kind of wheel-leg combined type robot architecture of changeable move mode, including main body rack, train wheel apparatus and three joint Bionic limb devices；The three joints Bionic limb device includes multiple, and it is symmetrically mounted on main body rack both sides, and the anti-raw limb in each three joint includes the first linking arm, the second linking arm, stempoda, and the first steering wheel, the second steering wheel, the 3rd steering wheel；The train wheel apparatus are arranged on three joint Bionic limb devices, and train wheel apparatus are made up of wheel, shaft coupling, motor, and motor connects wheel by shaft coupling, and the motor is fixed on the stempoda of three joint Bionic limb devices by electric machine support；The utility model has creeps and wheel two kinds of ground moving modes of traveling, is adapted to different working environments, and two kinds of motion modes can carry out any switching laws, considerably increase the mobility and operating efficiency of robot according to the use demand of road conditions and user.
Description
Technical field
The utility model belongs to robotics, relates in particular to a kind of wheel leg of changeable move mode and is combined
Formula robot architecture.
Background technology
At present, mobile robot mainly uses wheeled, crawler type and leg formula three kinds of motions mode.Wheeled robot has height
Fast efficient the characteristics of, technology maturation, but obstacle climbing ability is poor, it is impossible to adapt to complicated terrain environment.Caterpillar type robot adapts to energy
Power is strong, compact to design, with good environmental suitability, but haves the shortcomings that weight is big, frictional resistance is larger, energy consumption is very high.
Legged mobile robot mobility is good, obstacle climbing ability strong, but translational speed is slow.
The time of occurrence of search and rescue robot is relatively later, although the application field of present robot constantly expands wide, technology
It is constantly progressive, but the robot in search and rescue field, emulation and the theory stage in laboratory are much still in, while also existing
Many problems for being difficult to overcome and be difficult to expect, really are able to the search and rescue robot being applied to seldom, and wheel-leg combined type
Mobile robot is just more rare.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of wheel leg of changeable move mode is answered
Box-like robot architecture.
The utility model is achieved through the following technical solutions：
A kind of wheel-leg combined type robot architecture of changeable move mode, including main body rack, train wheel apparatus and three are closed
Section Bionic limb device；
The three joints Bionic limb device includes multiple, and it is symmetrically mounted on main body rack both sides, each anti-life in three joints
Limb includes the first linking arm, the second linking arm, stempoda, and the first steering wheel, the second steering wheel, the 3rd steering wheel；First steering wheel
It is fastened on main body rack, the first steering wheel connects one end of the first linking arm, forms the first joint of Bionic limb；Described first connects
The other end and the second steering wheel for connecing arm are fastenedly connected, and the second steering wheel connects one end of the second linking arm, form the second of Bionic limb
Joint；The other end of second linking arm is fastenedly connected with the 3rd steering wheel, and the 3rd steering wheel and stempoda are fastenedly connected, and is formed bionical
3rd joint of limb；
The train wheel apparatus are arranged on three joint Bionic limb devices, and train wheel apparatus are made up of wheel, shaft coupling, motor,
Motor connects wheel by shaft coupling, and the motor is fixed on the stempoda of three joint Bionic limb devices by electric machine support.
In the above-mentioned technical solutions, the quantity of three joint Bionic limb devices is six, six three joint Bionic limb devices point
Cloth in main body rack both sides, per side three.
In the above-mentioned technical solutions, the quantity of train wheel apparatus is four, and four train wheel apparatus are separately mounted to six three passes
After two first three joint Bionic limb devices in section Bionic limb device and two on three joint Bionic limb devices.
In the above-mentioned technical solutions, the main body rack includes upper backup pad, middle upper backup pad, middle lower supporting plate, lower branch
Fagging, is fastenedly connected between four supporting plates by copper post；Further, the middle lower supporting plate, lower supporting plate shape phase
Together, size is identical；The upper backup pad, middle upper backup pad shapes and sizes are identical.
In the above-mentioned technical solutions, the motor is preferably reducing motor.
In the above-mentioned technical solutions, the wheel is preferably omni-directional wheel, and steering wheel can be well reduced during deformation
Stress.
Advantage of the present utility model and have the beneficial effect that：
(1) the utility model uses four-sheet structure, lower to go up small structure greatly using lower heavy light, and machine is stablized well
The overall center of gravity of device people；(2) each Bionic limb of the utility model is constituted by three twin shaft steering wheels, constitutes three passes of limbs
Section, therefore with walking, obstacle detouring, the ability of climbing well；Effectively raise the flexibility ratio of robot；(3) in Bionic limb
Lower extremities, be connected with steering wheel and universal wheel, by taking turns the deformation of leg, wheel-leg combined type walking manner can be realized；Select simultaneously
It is omni-directional wheel, a mode for being to meet running on wheels, another is that steering wheel can be well reduced during deformation
Stress.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is electric control structure schematic diagram of the present utility model.
Specific embodiment
The technical solution of the utility model is further illustrated with reference to specific embodiment.
Referring to accompanying drawing, a kind of wheel-leg combined type robot architecture of changeable move mode of the present utility model mainly wraps
Include：Main body rack, four train wheel apparatus and six three joint Bionic limb devices；
The main body rack includes upper backup pad 1, middle upper backup pad 2, middle lower supporting plate 3, lower supporting plate 4, four supports
It is fastenedly connected by copper post 5 between plate；Four supporting plates for using consider from force analysis and position of centre of gravity, above two
Laminate is small and thin, and two-ply below is big and thickness；Wherein, middle lower supporting plate 3, the shape of lower supporting plate 4 are identical, size phase
Together；Upper backup pad 1, the shapes and sizes of middle upper backup pad 2 are identical.
Described six three joint Bionic limb devices are distributed in main body rack both sides, per side three；The anti-raw limb in each three joint
Including the first linking arm 6, the second linking arm 7, stempoda 8, and the first steering wheel 9, the second steering wheel 10, the 3rd steering wheel 11；Described
One steering wheel 9 is fastened by two steering wheel steering wheels 12 and middle lower supporting plate 3, the similar round jag of lower supporting plate 4 by screw 19
Connection, the first steering wheel 9 connects one end of the first linking arm 6 by a U-bracket 13, forms the first joint of Bionic limb；Institute
The other end and the second steering wheel 10 for stating the first linking arm 6 are fastenedly connected, and the second steering wheel 10 connects the by another U-bracket 14
One end of two linking arms 7, forms the second joint of Bionic limb；The other end of second linking arm 7 is fastened with the 3rd steering wheel 11
Connection, the 3rd steering wheel 11 is fastenedly connected by steering wheel support 15 and stempoda 8, forms the 3rd joint of Bionic limb；By three rudders
Into three joints of Bionic limb, (the first steering wheel is realized advancing and retrogressing, second the second linking arm of servos control 7 and stempoda 8 for mechanism
Raise and realize moving left and right with whereabouts, the 3rd servos control stempoda), good obstacle detouring and climbing ability can be reached.
Four train wheel apparatus are separately mounted to two first three joint Bionic limbs in six three joint Bionic limb devices
After device and two on three joint Bionic limb devices；Train wheel apparatus are made up of wheel 16, shaft coupling 17, reducing motor 18, slow down
Motor 18 connects wheel 16 by shaft coupling 17, and the reducing motor 18 is fixed on stempoda 8 by electric machine support.
The utility model also includes control mainboard and driving plate, and the control mainboard and driving plate are by being fastenedly connected
On main body rack；The driving plate is divided into motor driving plate and actuator driving plate, and motor driving plate is electric with the deceleration of train wheel apparatus
Machine 18 is electrically connected, and actuator driving plate is electrically connected with the first steering wheel 9, the second steering wheel 10, the 3rd steering wheel 11, and motor driving plate and rudder
Machine driving plate is entered horizontal electrical signal and is connected with control mainboard.
Image collecting device 19, image collecting device and corresponding image transmitting communication mould are also equipped with main body rack
Block electrically connects (image transmitting communication module is also fastenedly connected on the middle upper backup pad 1), described image harvester, image
Electrically connected between transmission communication module and control mainboard, image transmitting communication module is connected with figure and passes antenna, by image transmitting
The vision signal of image acquisition device is sent to remote control terminal by communication module；Master board is also associated with data biography
Defeated communication module, data transfer communication module be connected with number pass antennas, remote control terminal by data transfer communication module with
Control mainboard is communicated, and (remote control terminal sends control robot and carries out by data transfer communication module to control mainboard
The control signal of ground moving).
When using, robot has creeps and wheel two kinds of move modes of traveling, and two kinds of move modes can basis
The situation on road surface is freely switched.When under rugged and rough road conditions, master board drives six three by actuator driving plate
The steering wheel motion of joint Bionic limb device, realizes that robot crawling is moved；When in smooth-riding surface, master board controls six three
Second steering wheel 10 of joint Bionic limb device and the 3rd steering wheel 11 are acted, and adjust the second linking arm 7 and stempoda 8 to suitable position
(during adjustment, the second linking arm 7 is lifted up, and stempoda 8 is to interior folding), transfers train wheel apparatus, wheel is contacted ground, so that real
The wheel traveling mode of existing robot, when wheel is advanced, realizes advancing, by control by controlling the reducing motor of train wheel apparatus
Train wheel apparatus where three joint Bionic limb devices the first steering wheel 9, realize turn to.
The utility model can apply to the disaster relief and get rid of the danger, explosion-proof anti-terrorism, archaeology detection etc..
Exemplary description is done to the utility model above, it should explanation, do not departed from core of the present utility model
In the case of the heart, any simple deformation, modification or other skilled in the art can not spend creative work etc.
Protection domain of the present utility model is each fallen within replacing.
Claims (6)
1. a kind of wheel-leg combined type robot architecture of changeable move mode, it is characterised in that：Filled including main body rack, train
Put and three joint Bionic limb devices；
The three joints Bionic limb device includes multiple, and it is symmetrically mounted on main body rack both sides, the anti-raw limb bag in each three joint
Include the first linking arm, the second linking arm, stempoda, and the first steering wheel, the second steering wheel, the 3rd steering wheel；The first steering wheel fastening
On main body rack, the first steering wheel connects one end of the first linking arm, forms the first joint of Bionic limb；First linking arm
The other end be fastenedly connected with the second steering wheel, the second steering wheel connect the second linking arm one end, formed Bionic limb second joint；
The other end of second linking arm is fastenedly connected with the 3rd steering wheel, and the 3rd steering wheel and stempoda are fastenedly connected, and forms Bionic limb
3rd joint；
The train wheel apparatus are arranged on three joint Bionic limb devices, and train wheel apparatus are made up of wheel, shaft coupling, motor, motor
Wheel is connected by shaft coupling, the motor is fixed on the stempoda of three joint Bionic limb devices by electric machine support.
2. the wheel-leg combined type robot architecture of changeable move mode according to claim 1, it is characterised in that：Three close
The quantity for saving Bionic limb device is six, and six three joint Bionic limb devices are distributed in main body rack both sides, per side three.
3. the wheel-leg combined type robot architecture of changeable move mode according to claim 1 and 2, it is characterised in that：
The quantity of train wheel apparatus is four, and four train wheel apparatus are separately mounted to two first three passes in six three joint Bionic limb devices
After section Bionic limb device and two on three joint Bionic limb devices.
4. the wheel-leg combined type robot architecture of changeable move mode according to claim 1, it is characterised in that：It is described
Main body rack includes upper backup pad, middle upper backup pad, middle lower supporting plate, lower supporting plate, enters by copper post between four supporting plates
Row is fastenedly connected；The middle lower supporting plate, lower supporting plate shape are identical, and size is identical；The upper backup pad, middle upper backup pad shape
Shape is identical with size.
5. the wheel-leg combined type robot architecture of changeable move mode according to claim 1, it is characterised in that：It is described
Motor is preferably reducing motor.
6. the wheel-leg combined type robot architecture of changeable move mode according to claim 1, it is characterised in that：It is described
Wheel is preferably omni-directional wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621313078.XU CN206218051U (en) | 2016-12-01 | 2016-12-01 | A kind of wheel-leg combined type robot architecture of changeable move mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621313078.XU CN206218051U (en) | 2016-12-01 | 2016-12-01 | A kind of wheel-leg combined type robot architecture of changeable move mode |
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| Publication Number | Publication Date |
|---|---|
| CN206218051U true CN206218051U (en) | 2017-06-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621313078.XU Expired - Fee Related CN206218051U (en) | 2016-12-01 | 2016-12-01 | A kind of wheel-leg combined type robot architecture of changeable move mode |
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| Country | Link |
|---|---|
| CN (1) | CN206218051U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114750851A (en) * | 2021-07-12 | 2022-07-15 | 智能移动机器人(中山)研究院 | Steering engine-based four-six-foot robot with variable structure and traveling method thereof |
-
2016
- 2016-12-01 CN CN201621313078.XU patent/CN206218051U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114750851A (en) * | 2021-07-12 | 2022-07-15 | 智能移动机器人(中山)研究院 | Steering engine-based four-six-foot robot with variable structure and traveling method thereof |
| CN114750851B (en) * | 2021-07-12 | 2023-08-01 | 智能移动机器人(中山)研究院 | Variable-structure four-six-foot robot based on steering engine and advancing method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170606 Termination date: 20171201 |