CN207015472U - A kind of wheels device people - Google Patents

A kind of wheels device people Download PDF

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Publication number
CN207015472U
CN207015472U CN201720760776.2U CN201720760776U CN207015472U CN 207015472 U CN207015472 U CN 207015472U CN 201720760776 U CN201720760776 U CN 201720760776U CN 207015472 U CN207015472 U CN 207015472U
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leg
walking
gear
crank
car body
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CN201720760776.2U
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Chinese (zh)
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董学会
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Goertek Techology Co Ltd
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Goertek Techology Co Ltd
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Abstract

The utility model discloses a kind of wheels device people, and solving in the prior art can the walking robot technical problem low to Different Ground landform adaptability.The wheels device people includes car body, the lower car body is provided with wheel and walking-leg, the wheel is located at the rear side of the car body direct of travel, the walking-leg is located at the front side of the car body direct of travel, the wheel is provided with the first motor, and the robot walks by the wheel and walking-leg simultaneously.The utility model had both had the characteristics of wheeled robot movement velocity is fast, motion is flexible, had that legged type robot obstacle climbing ability is strong, crosses the characteristics of ditch ability is strong again, and wheels device people of the present utility model is adapted to different ground surface or terrains, and adaptability is stronger.

Description

A kind of wheels device people
Technical field
It the utility model is related to a kind of robot, and in particular to a kind of wheels device people, for manned or loading.
Background technology
Legged type robot is made up of walking-leg, and legged type robot has excellent obstacle detouring, crosses ditch and landform adaptability, fortune The dynamic good advantage of flexibility, but with the shortcoming such as the speed of travel is slow, drive efficiency is low, the sufficient formula machine of energy utilization efficiency lower limit Device people payload deadweight ratio;And the wheeled robot speed of travel is fast, drive efficiency is high but obstacle climbing ability is limited.Current In terms of research and product are concentrated mainly on sufficient formula and wheeled Liang Zhong robots, it is impossible to which further focus utilization Liang Zhong robots are got over The advantages of barrier ability and the fast speed of service.
Wheeled robot typically drives two groups of wheels to realize that robot moves on the ground by two motors, legged type robot Typically it is made up of, is alternately contacted by each leg with ground, realization is walked on the ground two or four legs.
Wheeled robot obstacle climbing ability is limited, crosses ditch ability and landform adaptability is relatively low;The legged type robot speed of travel Slowly, drive efficiency is low, control is complicated.
Also there is the robot using leg wheel Mixed Design in the prior art, but leg and wheel are individually made according to operating mode , and non-concurrent use, the advantages of not making full use of wheeled robot and legged type robot.
Utility model content
For the above-mentioned problems in the prior art, the utility model provides a kind of wheels device people, simultaneously There is provided wheel and walking-leg, has higher obstacle climbing ability and crosses ditch ability, landform is adaptable;The speed of travel simultaneously It hurry up, drive efficiency is high, control is simple.
In order to achieve the above object, the technical solution of the utility model is realized in:
The utility model provides a kind of wheels device people, including car body, the lower car body are provided with wheel and step Row leg, the wheel are located at the rear side of the car body direct of travel, and the walking-leg is located at the front side of the car body direct of travel, The wheel is provided with the first motor, and the robot walks by the wheel and walking-leg simultaneously.
Further, the wheel includes at least two groups, during wheel walking, driving force is transferred to by car body described Walking-leg, the walking-leg is driven to walk;Or the walking-leg is provided with the second motor, for driving the walking-leg Walking.
Further, the walking-leg includes at least two groups, and respectively left leg and right leg, left leg and right leg structure are identical symmetrical Arrangement, the left leg and right leg alternately contact ground during the robot ambulation, the left leg and right leg be including The motion chain mechanism of some connecting rods.
Further, the left leg and right leg include the first gear and second gear of engaged transmission, the first gear It is arranged on second gear on the car body, the both ends of the central shaft of the second gear are connected to the first crank and second Crank, the second gear drive first crank and the second crank to rotate while rotation;The outer end of first crank Third connecting rod is hinged with, the outer end of second crank is hinged with second connecting rod, second connecting rod and the third connecting rod lower end point It is not hinged with leg link, first connecting rod is hinged with the third connecting rod, the first connecting rod other end is cut with scissors with the car body Connect.
Further, the first gear or second gear are driving link, and second motor drives first tooth Wheel or second gear are rotated, and power transmission shaft is connected between the first gear in the left leg and right leg.
Further, the position difference 180 degree of first crank and the second crank in same group of walking-leg;Difference group step The position difference 180 degree of first crank in row leg, the position of second crank is also difference 180 degree;Described second Crank and second connecting rod are zigzag, and second motor can be avoided in the second crank rotation process.
Further, the leg link is T-shaped, lower end semicircular in shape.
Further, the car body includes vehicle frame, and the vehicle frame is in flatbed, the frame downward be provided with two supporting legs and Two installing plates, two supporting leg lower ends at rear portion install the wheel, described first are installed on anterior two installing plates respectively Gear, second gear and first connecting rod.
Further, the installing plate vertically car body installation, the first gear and second gear are arranged on the peace On the inside of loading board, the first connecting rod, the first crank are arranged on the outside of the installing plate.
Further, the walking-leg is disposed adjacent, the spacing for being smaller than wheel described in two groups of walking-leg described in two groups.
The wheels device people set using said structure has advantages below:
Robot employs walking leg mechanism in the utility model, and the walking-leg can realize gait motion, two groups of walkings Leg can be supported alternately with ground contact.The walking of taking a step of walking-leg can be driven by motor or wheel driving force is realized.
Robot is rotated using two power wheels in the utility model, can realize that two-freedom is transported on the ground It is dynamic, have the characteristics that wheeled robot movement velocity is fast, motion is flexible.
Robot is according to operating mode in the utility model, motor output torque, obstacle climbing ability, crosses the enhancing of ditch ability, can be across The more trench of one fixed width.
Robot is adapted to different ground surface or terrains in the utility model, and adaptability is stronger.
Robot walking-leg motion structure only needs a motor driving in the utility model, and control is simply.
Robot takes full advantage of the advantages of wheeled robot and legged type robot in the utility model, and structure is novel.
Brief description of the drawings
Fig. 1 is the stereogram of robot in the utility model embodiment 1;
Fig. 2 is the exploded view of robot in the utility model embodiment 1;
Fig. 3 is the front view of robot in the utility model embodiment 1;
Fig. 4 is the left view of robot in the utility model embodiment 1;
Fig. 5 is the sectional view of robot in the utility model embodiment 1;
Fig. 6 is the stereogram that the utility model uses walking-leg (left leg);
Fig. 7 is the exploded view that the utility model uses walking-leg (left leg);
Fig. 8 is the front view that the utility model uses walking-leg (left leg);
Fig. 9 is the plane mechanism sketch that the utility model uses walking-leg (left leg).
In figure:1. car body;1-1. vehicle frame;1-2. supporting leg;1-3. installing plate;2. wheel;3. the first motor;4. second Motor;5. walking-leg;5-1. first connecting rod;5-2. first gear;5-3. second gear;The cranks of 5-4. first;In 5-5. Mandrel;The cranks of 5-6. second;5-7. second connecting rod;5-8. leg link;5-9. third connecting rod;6. power transmission shaft;7. the first driving Motor;8. wheel.
Embodiment
Design concept of the present utility model is:
Wheeled robot obstacle climbing ability of the prior art is limited, crosses ditch ability and landform adaptability is relatively low.Sufficient formula machine Device people's speed of travel is slow, drive efficiency is low, control is complicated.Therefore, the utility model provides a kind of wheels device people, Wheel and walking-leg are provided with simultaneously, wheel is located at the rear side of direct of travel, and walking-leg is located at the front side of direct of travel, robot Walked simultaneously by wheel and walking-leg, the advantages of taking full advantage of wheeled robot and legged type robot.
It is new to this practicality below in conjunction with accompanying drawing to make the purpose of this utility model, technical scheme and advantage clearer Type embodiment is described in further detail.
Embodiment 1
It is the utility model embodiment 1, in this embodiment, a kind of wheels as shown in Figure 1, Figure 2, Figure 3, Figure 4 Device people, including car body 1, the bottom of car body 1 are provided with wheel and walking-leg 5, and wheel is located at the rear side of the direct of travel of car body 1, walking Leg 5 is located at the front side of the direct of travel of car body 1, and wheel is provided with the first motor, and robot relies on wheel and walking-leg 5 simultaneously Walking.
As shown in figure 1, wheel includes two groups, i.e. wheel 2,8, wheel 2 is provided with the first motor 3, and wheel 8 is provided with First motor 7.
In this embodiment, walking-leg 5 is provided with the second motor 4, for driving walking-leg 5 to walk, i.e. walking-leg 5 Can actively it walk.The output torque of second motor 4, the obstacle climbing ability of robot, the enhancing of ditch ability is crossed, can crossed over certain The trench of width.
As shown in figure 3, walking-leg 5 includes two groups, respectively left leg and right leg, the identical symmetrical cloth of left leg and right leg structure Put, left leg and right leg alternately contact ground during robot ambulation, and left leg and right leg are the fortune for including some connecting rods Dynamic chain mechanism.Second motor 4 only needs to set one group, drives left leg and right leg, is also set up between left leg and right leg There is power transmission shaft 6, there are specific descriptions below.
As shown in Fig. 6, Fig. 7, Fig. 8, left leg and right leg include the first gear 5-2 and second gear 5-3 of engaged transmission, First gear 5-2 and second gear 5-3 is arranged on car body 1, and second gear 5-3 central shaft 5-5 both ends are connected to First crank 5-4 and the second crank 5-6, second gear 5-3 drive the first crank 5-4 and the second crank 5-6 to revolve while rotation Turn.
Central shaft 5-5 both ends and the first crank 5-4 and the second crank 5-6 are not articulated structures, but drive mechanism, example The attachment structure of square hole and square shaft can such as be used.
First crank 5-4 outer end is hinged with third connecting rod 5-9, and the second crank 5-6 outer end is hinged with second connecting rod 5- 7, second connecting rod 5-7 and third connecting rod 5-9 lower ends are hinged with leg link 5-8 respectively, and the first company is hinged with third connecting rod 5-9 Bar 5-1, the first connecting rod 5-1 other ends are be hinged with car body 1.
In the mechanism, first gear 5-2 or second gear 5-3 are driving link, and the second motor 4 drives first gear 5-2 or second gear 5-3 is rotated, and power transmission shaft 6 is connected between the first gear 5-2 in left leg and right leg.Second motor 4 Output shaft can be directly connected to first gear 5-2 or second gear 5-3 central shaft, or the output shaft of the second motor 4 Pass through gear and first gear 5-2 or second gear 5-3 engaged transmissions.
Second motor 4 needs to be arranged on car body 1, either drives first gear 5-2 or second gear 5-3, The mounting structure of second motor 4 can not all influence the movement locus of kinematic chain.
As shown in Figure 6, Figure 7, the first crank 5-4 in same group of walking-leg 5 and the second crank 5-6 position difference 180 Degree;Because left leg and right leg need alternately contact ground, as shown in Figure 1 and Figure 2, the first crank in difference group walking-leg 5 5-4 position difference 180 degree, the second crank 5-6 position is also difference 180 degree.
Second crank 5-6 and second connecting rod 5-7 is zigzag.
Can be with when the second motor 4 driving second gear 5-3 is rotated, in the second crank 5-6 rotation processes of zigzag Avoid the second motor 4.
As shown in figure 8, leg link 5-8 is T-shaped, lower end semicircular in shape, be advantageous to leg link 5-8 with ground with camber line Motion track is contacted and left.
As shown in Fig. 3, Fig. 4, Fig. 5, car body 1 includes vehicle frame 1-1, and vehicle frame 1-1 is in flatbed, and vehicle frame 1-1 bottoms are provided with Two supporting leg 1-2 and two installing plate 1-3, two supporting leg 1-2 lower ends difference installing wheel 2,8 at rear portion, anterior two peaces First gear 5-2, second gear 5-3 and first connecting rod 5-1 are installed on loading board 1-3.
The vertical car body installations of installing plate 1-3, first gear 5-2 and second gear 5-3 are arranged on the inside of installing plate 1-3, the One connecting rod 5-1, the first crank 5-4 are arranged on the outside of installing plate 1-3.
Supporting leg 1-2, installing plate 1-3 and vehicle frame 1-1 can be made into integration, and structural strength higher weight can be used lighter The materials such as aluminium alloy, plastics, carbon fiber are made.Kinematic chain structural requirement in walking-leg 5 is using higher stainless of structural strength The materials such as steel, plastics, carbon fiber are made.Auxiliary fixture can also be set on vehicle frame 1-1, for fixing contained object.
As shown in figure 3, walking-leg 5 is disposed adjacent, the spacing for being smaller than two groups of wheels 2,8 of two groups of walking-legs 5.Machine The overall similar tripod structure of people.Two groups of walking-legs 5 are disposed adjacent, and spacing is smaller, are so designed to avoid walking-leg 5 from handing over Occur substantially to jolt for car body 1 during contact ground.
The number of degrees of freedom, of walking-leg 5 is by formula F=3n- (2Pl+Ph) calculated, it can in two kinds of situation calculate, join Examine the left leg plane mechanism sketch shown in Fig. 9.
When first gear 5-2 is driving link, first gear 5-2 and second gear 5-3 are a part for mechanism, wherein living Dynamic number of components n=6, low secondary number Pl=8, higher pair number Ph=1, then there is determination to move for F=1, mechanism.
Wherein, the low secondary central shaft installation place including first gear 5-2, second gear 5-3 central shaft 5-5 installation places, The both ends hinged place of first connecting rod 5-1 both ends hinged place, third connecting rod 5-9 both ends hinged place and second connecting rod 5-7, higher pair Only include first gear 5-2 and second gear 5-3 engaged transmission.
When second gear 5-3 is driving link, first gear 5-2 can not be a part for mechanism, wherein movable structure Number of packages n=5, low secondary number Pl=7, higher pair number Ph=0, then there is determination to move for F=1, mechanism.
Wherein, the low secondary central shaft 5-5 installation places including second gear 5-3, first connecting rod 5-1 both ends hinged place, the Three connecting rod 5-9 both ends hinged place and second connecting rod 5-7 both ends hinged place, higher pair zero.
Embodiment 2
In this embodiment, with embodiment 1 except that, walking-leg 5 is not provided with the second motor 4, when wheel 2,8 During walking, driving force is transferred to walking-leg 5 by car body 1, driving walking-leg 5 is walked.
Because without the output torque of the second motor 4, the obstacle climbing ability of robot, ditch ability excessively compare the meeting of embodiment 1 It is weaker, but still to be significantly improved than wheeled robot.
The other structures of wheels device people are in the same manner as in Example 1 in this embodiment, are not repeated to describe herein.
Embodiment 3
In this embodiment, with embodiment 1 except that, walking-leg 5 can set the even number more than two groups, wheel Even number more than two groups can also be set.
Such as the combination of two groups of wheels and four groups of walking-legs 5, two groups of wheels are still located at the rear side of the direct of travel of car body 1, Four groups of walking-legs 5 are located at the front side of the direct of travel of car body 1.It is required that above two groups of structures of walking-leg 5 at two groups of walking-legs 5 and middle part Identical, the left and right sides of car body 1 can have the walking-leg 5 on contact ground simultaneously, the gait of march of such robot can faster, More steady, obstacle climbing ability, ditch ability excessively are stronger.
Such as the combination of four groups of wheels and two groups of walking-legs 5, four groups of wheels are still located at the rear side of the direct of travel of car body 1, Two groups of walking-legs 5 are located at the front side of the direct of travel of car body 1.So the gait of march of robot can be faster also more steady, carries energy Li Genggao.
The other structures of wheels device people are in the same manner as in Example 1 in this embodiment, are not repeated to describe herein.
More than, only specific embodiment of the present utility model, under above-mentioned teaching of the present utility model, art technology Personnel can carry out other improvement or deformation on the basis of above-described embodiment.It is it will be understood by those skilled in the art that above-mentioned Specific descriptions simply preferably explain the purpose of this utility model, the scope of protection of the utility model should be with the guarantor of claim Shield scope is defined.

Claims (10)

1. a kind of wheels device people, including car body, it is characterised in that the lower car body is provided with wheel and walking-leg, The wheel is located at the rear side of the car body direct of travel, and the walking-leg is located at the front side of the car body direct of travel, described Wheel is provided with the first motor, and the robot walks by the wheel and walking-leg simultaneously.
2. wheels device people as claimed in claim 1, it is characterised in that the wheel includes at least two groups, the car During wheel walking, driving force is transferred to the walking-leg by car body, drives the walking-leg to walk;Or the walking-leg is set The second motor is equipped with, for driving the walking-leg to walk.
3. wheels device people as claimed in claim 2, it is characterised in that the walking-leg bag at least includes two groups, respectively For left leg and right leg, left leg is identical with right leg structure to be arranged symmetrically, the left leg and right leg during the robot ambulation Alternately contact ground, the left leg and right leg are the motion chain mechanism for including some connecting rods.
4. wheels device people as claimed in claim 3, it is characterised in that the left leg and right leg include engaged transmission First gear and second gear, the first gear and second gear be arranged on the car body on, in the second gear The both ends of mandrel are connected to the first crank and the second crank, and the second gear drives first crank while rotation Rotated with the second crank;The outer end of first crank is hinged with third connecting rod, and the outer end of second crank is hinged with second Connecting rod, second connecting rod and the third connecting rod lower end are hinged with leg link respectively, and the first company is hinged with the third connecting rod Bar, the first connecting rod other end are hinged with the car body.
5. wheels device people as claimed in claim 4, it is characterised in that the first gear or second gear are former dynamic Part, second motor drive the first gear or second gear to rotate, the first gear in the left leg and right leg Between connect power transmission shaft.
6. wheels device people as claimed in claim 4, it is characterised in that first crank in same group of walking-leg 180 degree is differed with the position of the second crank;The positions difference 180 degrees of first crank in difference group walking-legs, described the The position of two cranks is also difference 180 degree;Second crank and second connecting rod are zigzag, and second crank rotated Second motor can be avoided in journey.
7. wheels device people as claimed in claim 4, it is characterised in that the leg link is T-shaped, and lower end is in semicircle Shape.
8. wheels device people as claimed in claim 4, it is characterised in that the car body includes vehicle frame, and the vehicle frame is in Flatbed, the frame downward are provided with two supporting legs and two installing plates, and two supporting leg lower ends at rear portion are installed described respectively Wheel, the first gear, second gear and first connecting rod are installed on anterior two installing plates.
9. wheels device people as claimed in claim 8, it is characterised in that the installing plate vertically car body installation, The first gear and second gear are arranged on the inside of the installing plate, and the first connecting rod, the first crank are arranged on the peace On the outside of loading board.
10. wheels device people as claimed in claim 3, it is characterised in that the walking-leg is disposed adjacent, described in two groups The spacing for being smaller than wheel described in two groups of walking-leg.
CN201720760776.2U 2017-06-27 2017-06-27 A kind of wheels device people Active CN207015472U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107128390A (en) * 2017-06-27 2017-09-05 歌尔科技有限公司 A kind of wheels device people
CN110584961A (en) * 2019-09-05 2019-12-20 河海大学常州校区 Walking-aid robot
CN114569006A (en) * 2022-02-24 2022-06-03 同济大学 Be applied to lateral wall curve guide rail climbing supporting mechanism of robot of sweeping floor

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107128390A (en) * 2017-06-27 2017-09-05 歌尔科技有限公司 A kind of wheels device people
CN110584961A (en) * 2019-09-05 2019-12-20 河海大学常州校区 Walking-aid robot
CN114569006A (en) * 2022-02-24 2022-06-03 同济大学 Be applied to lateral wall curve guide rail climbing supporting mechanism of robot of sweeping floor

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