CN208165135U - A kind of wheel leg type parallel connection mobile robot - Google Patents
A kind of wheel leg type parallel connection mobile robot Download PDFInfo
- Publication number
- CN208165135U CN208165135U CN201820764188.0U CN201820764188U CN208165135U CN 208165135 U CN208165135 U CN 208165135U CN 201820764188 U CN201820764188 U CN 201820764188U CN 208165135 U CN208165135 U CN 208165135U
- Authority
- CN
- China
- Prior art keywords
- wheel
- leg
- mobile robot
- lower platform
- lower link
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a kind of wheel leg type parallel connection mobile robot, is based on 3-RCPU parallel institution.When being in walking mode, parallel institution is reconstructed into 3-CPU structure, leg structure and body relative position are constant, it is walked with the upper mounting plate of parallel institution and the interlaced of lower platform to realize, gait planning problem when avoiding legged walking, can guarantee when each landing can have three leg contact ground, reduce control difficulty.When wheeled traveling, upper mounting plate increases a certain distance, and the lower link of three movable leg structures of lower platform turns over certain angle, its wheel is set to contact to earth, two driving wheels provide onward impulse, and driven wheel only plays driven and support ontology, two driving wheel differentials realize turning, and rear-wheel is driven wheel.Due to having had both the flexibility of wheeled rapidity and leg formula, so the movement can better adapt to complicated ground environment.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of wheel leg type parallel connection mobile robot.
Background technique
According to mechanism structure and realize functional mode difference, mobile robot mainly have wheeled, leg formula, crawler type with
And the motor patterns such as combined type.The mobile robot of single movement mode only can be suitably used for the external landform ring of certain specified conditions
Border.Such as wheeled robot can be quickly through flat ground；Legged mobile robot is relatively wheeled and caterpillar mobile robot
With more powerful ground adaptability and obstacle performance；But wherein biped robot is since sufficient number is less and four-footed, six foots
Touchdown point is more, and to will cause stability not good enough.And tripod robot due to its only there are three touchdown point therefore have it is relatively good steady
It is qualitative.
Generally there are two types of structures for existing leg-wheel robot：1）Wheel leg does not separate.Wheel is mounted on leg structure
End serves as foot with wheel or wheel is directly transformed into leg use；2）Wheel and leg are kept completely separate.The unseparated robot of wheel leg
When being walked with leg formula, wheeled part has reformed into redundancy structure, will increase the difficulty of control；Second of structure phase
For, structure is simpler, controls easier.
By retrieval, Chinese patent（CN 105774940 A）Disclose a kind of tripodia Multidirectional-moving robot, the machine
The tripod structure of device people is identical, 120 ° of the horizontal interval arrangement on vehicle frame, while two groups of foot mounting holes are provided on vehicle frame, so that
There are two types of installation forms for this tripod robot tool, and the Multidirectional-moving that robot is realized under form is installed at every kind.But it should
There is no the wheel row modes that setting can fast forward through in flat road surface for robot.
Chinese patent（CN 106627830 A）Disclose a kind of wheel leg composite mobile robot, multiple machines of the robot
Tool leg is separated by 60 ° of edges for being mounted on vehicle frame respectively, and four wheel portions are separated by 90 ° respectively and are mounted on bottom of frame, each machinery
At least three grippers are installed, the free end of each gripper can be independently towards the center line of body close to or far from phase on leg
Mutually coordinate to complete to grab spherical or irregularly shaped object.But its motor is more, increases the weight of body, and gait planning is more
It is complicated.
Chinese patent（CN 103112515 A）A kind of wheel-leg combined type robot is disclosed, the basis of the robot is one
A cross section is the shell of rectangle, longitudinal setting leg structure at four angles of the cross section rectangle of the shell, walking
Wheel is then mounted on leg joint, but also needs to consider gait planning problem, and stablizing for body needs the swing with its leg first
Sequence is mutually coordinated afterwards.
The utility model proposes a kind of wheel leg type parallel connection mobile robot combine multi-motion modes the advantages of, have
Stronger complicated landform adaptability.The utility model is the leg-wheel robot based on 3-RCPU parallel institution simultaneously, when
When in walking mode, which is reconstructed into 3-CPU parallel institution, maximum can avoid interference with problem and its tool
There is biggish obstacle climbing ability.Leg structure and body relative position are constant, but with the upper mounting plate of parallel institution and lower platform
Interlaced to walk to realize, come gait planning problem when avoiding legged walking, can guarantee can have three when each landing
Leg contacts ground, reduces control difficulty.Due to having had both the flexibility of wheeled rapidity and leg formula, so the utility model
Complicated ground environment can be better adapted to, therefore there is wider application prospect.
Summary of the invention
The purpose of the utility model is to provide a kind of wheel leg type parallel connection mobile robots, can be moved using two ways
It is dynamic.
The utility model adopts the following technical solution：
A kind of wheel leg type parallel connection mobile robot, including the upper mounting plate and lower platform connected by parallel institution, upper mounting plate
On be separated by 120 ° and be bolted respectively（Or welding）There are three fixing supporting legs, is equally separated by 120 ° on lower platform and cuts with scissors respectively
Connect three movable supporting legs, the parallel institution is coupled by three branches, and every branch is RCPU structure, i.e., by revolute pair,
Cylindrical pair, prismatic pair, Hooke's hinge are formed by connecting.Wherein revolute pair, prismatic pair are that driving is secondary, and revolute pair is driven by rotary electric machine III
Dynamic, prismatic pair is replaced by push-rod electric machine, and the top of push-rod electric machine is hinged and connected to upper mounting plate by Hooke, the bottom end of push-rod electric machine and
Swing rod connects and composes cylindrical pair, and swing rod fixing end is connected on III output shaft of motor.Motor III may be provided at lower platform bottom, keep away
Exempt from reciprocating movement bar to collide with it.The movable supporting leg and lower platform hingedly form revolute pair；The fixing supporting legs
It is interspersed with movable supporting leg.
The movable supporting leg, including upper connecting rod, lower link and support foot, upper connecting rod is hinged with lower link, upper connecting rod
Top and lower platform it is hinged, support foot is articulated with the bottom end of lower link.
It wherein is connected with driven wheel on the inside of the lower link of one group of movable supporting leg, in addition the lower link of two groups of movable supporting legs
Inside is connected with driving wheel.
For the axial line and lower link axis of the driving wheel at 30 ° of angles, driven wheel is free to rotate.
Compared with existing mobile robot, the beneficial effects of the utility model and innovation are as follows：
1. robot architecture is compact, have the function of restructural.When leg formula is advanced, using 3-CPU parallel institution, just
Degree is big, and bearing capacity is strong, can avoid interference with phenomenon to the greatest extent and have good obstacle climbing ability；When execution one
When fixed operational order, restructural is 3-RCPU parallel-connection structure, and upper lower platform relative position is larger, will not execute operation at this time and refer to
The upper connecting rod of order, lower link are flipped up respective angles, increase the working space of lower platform before colliding, and control motor makes lower flat
Platform obtains relatively large displacement, completes certain operational order；
2. driving when the utility model motion state is less, it is easy to control, and there are three legs supports when the traveling of leg formula always
Ground, stability are good；
3. the leg formula structure of the utility model can also act as manipulator effect, reduces the component of operation bidirectional hand, may be used also
To complete certain operational order, body weight is alleviated；
4. by the leg formula and running on wheels mode of switching robot complicated ground can either be adapted to, and can be on flat road
Face Fast marching.
Detailed description of the invention
Fig. 1 is the utility model wheel leg type parallel connection mobile robot overall structure diagram；
Fig. 2 is the utility model wheel leg type parallel connection mobile robot upper mounting plate and support leg structure figure；
Fig. 3 is the utility model wheel leg type parallel connection mobile robot lower platform structure；
Fig. 4 is the utility model upper mounting plate and lower platform connected mode schematic diagram；
Fig. 5 is the utility model upper connecting rod and lower link structural schematic diagram；
Fig. 6 is the hinged schematic diagram of the utility model movable supporting leg；
Main view and top view when Fig. 7,8 are the utility model wheel leg type parallel connection mobile robot legged walking；
Fig. 9 is the utility model wheel leg type parallel connection mobile robot running on wheels schematic diagram；
Figure 10 is that the utility model wheel leg type parallel connection mobile robot operates operation schematic diagram.
Figure label：1- upper mounting plate；2- lower platform；3- connecting rod；3-1- upper connecting rod；3-2- lower link；4- fixture；5- support
Foot；6- connector I；7- motor I；8- motor II；9- driving wheel；10- connector II；11- supporting leg；12- Hooke's hinge；13- is pushed away
Bar motor；14- swing rod；15- motor III；16- driven wheel；17-M20 threaded hole；18-M12 threaded hole.
Specific embodiment
In conjunction with attached drawing, specific embodiment of the present utility model is described further：
Wheel leg type parallel connection mobile robot described in the utility model is the parallel machine based on 3-RCPU parallel institution
Structure has reconfigurability, is a kind of methodology of novel parallel mechanism, has space six degree of freedom（Space six degree of freedom is respectively：Along X-axis
It is mobile, around the rotation of X-axis, along moving for Y-axis, around the rotation of Y-axis, along moving for Z axis, rotation about the z axis.）, can be suitably used for rugged
Rugged road surface.The mechanism working space is larger, stable transmission, and the cooperation of three push-rod electric machines and three rotary electric machines is so that entire machine
Body obtains biggish relative displacement under the premise of not unstability is determined.
The 3-RCPU parallel institution is to be linked up upper mounting plate, lower platform by three branches, and every branch is
RCPU structure is formed by connecting by revolute pair, cylindrical pair, prismatic pair, Hooke's hinge.Wherein revolute pair, prismatic pair are that driving is secondary, are turned
Dynamic pair is driven by rotary electric machine III, and prismatic pair is replaced by push-rod electric machine, and the top of push-rod electric machine is hinged and connected to upper flat by Hooke
Platform, the bottom end of push-rod electric machine and swing rod connect and compose cylindrical pair, and swing rod fixing end is connected on motor III output shaft.Motor III
It may be provided at lower platform bottom, reciprocating movement bar avoided to collide with it.
Three support leg structures, three 120 ° of leg interval distributions are fixedly connected on the upper mounting plate.3-RCPU parallel institution
It to allow two groups of supporting legs to be interspersed in connection, avoid interfering when walking.
Three legs on lower platform are connected on lower platform by connector I, and junction is revolute pair, three activities on leg
Joint is motor driven revolute pair.Fixture is arranged simultaneously in foot, to complete certain operational order.
Walking support leg device, including upper connecting rod, lower link and support foot, upper connecting rod and lower link structure and size are all the same,
Joint is hinged, motor I（7）It is fixed in upper connecting rod, is provided with keyway, motor output shaft on motor shaft and connecting rod one end hinge hole
Drive lower link rotation；The top of upper connecting rod and lower platform are hinged, motor I（7）On fixed lower platform, in motor output shaft driving
Link rotatable；Support foot is articulated with the bottom end of lower link, motor I（7）On fixed lower link, motor output shaft driving support foot turns
It is dynamic.Two driving wheels are fixed on the inside of lower link by connector II by certain angle, by motor（8）Output shaft drives；
Meanwhile manipulator is set in foot, which is suitable for clamping small article, and market category is more, can be with modularization
Replacement.The axial line and lower link axis of driving wheel are at 30 ° of angles, and two driving wheels outside is able to maintain flat when meeting wheeled traveling
Row.Driven wheel axial line and lower link axis non-angular limit, and allow 360 ° of rotations, the same universal wheel of principle.
When leg formula is advanced, three rotary electric machines III are locked on lower platform, three swing rods（14）It is respectively directed to lower platform center
Normal, parallel institution is reconstructed into the connection type of 3-CPU at this time.Due to swing rod（14）Position locking, the movement of cylindrical pair
It is restricted, parallel institution working space this moment can be made to become smaller, but also exactly because limiting the swing of swing rod, it can be in circle
The collision between leg and platform is avoided in the effective travel of column pair.The distal point of six legs is to robot lower platform central point
It is equidistant, leg upper joint is all locked.Robot if detecting the article that task needs, first determines whether in the process of walking
Whether in the reachable working space of manipulator, walk on if not in Work space, close to object, if
Then stop walking in the working space of manipulator, three on lower platform rotary electric machine III starts turning at this time, increases lower flat
Moving range of the platform in the case where not generating collision with leg, parallel institution this moment are 3-RCPU.One on lower platform
Or a plurality of movable supporting leg becomes manipulator's arm crawl article, and is put into specified position, after the completion on lower platform
Three legs set back, while three on lower platform piece swing rod restores initial position, and three rotary electric machines III are locked, parallel machine
Structure is reconstructed into 3-CPU connection type, and robot walks on.
When wheel leg type is converted, the lower link of three legs of lower platform flips outward certain angle, then moves back and forth bar
Elongation, makes its wheel contact to earth, and continues to increase upper mounting plate, so that platform leg is liftoff thereon, it is at this time running on wheels.Become
When leg formula is advanced, reverse operating is only needed.
When wheeled traveling, upper mounting plate increases a certain distance, and the lower link of three movable leg structures of lower platform turns over one
Fixed angle makes its wheel contact to earth, and two driving wheels provide onward impulses, and driven wheel only plays driven and support ontology, and two
Driving wheel differential realizes turning, and rear-wheel is driven wheel.
When carrying out operational order, three legs of upper mounting plate play a supportive role the utility model, and three movable legs of lower platform can
To rotate certain angle, manipulator is served as, completes certain instruction.
Claims (4)
1. a kind of wheel leg type parallel connection mobile robot, including the upper mounting plate being vertically connected with by parallel institution（1）And lower platform
（2）, upper mounting plate（1）On be uniformly connected with three fixing supporting legs（11）, lower platform（2）On be connected with three groups of walking supporting legs
Device, it is characterised in that：The parallel institution is laid with three groups, and parallel institution includes reciprocating push rod（13）, swing rod（14）
With motor III（15）, reciprocating push rod（13）Top pass through Hooke's hinge（12）With upper mounting plate（1）Bottom surface connection, motor III
（15）It is fixed on lower platform（2）Upper surface, swing rod（14）Laterally setting and with motor III（15）Output end connection, back and forth push away
Bar（13）Bottom end and swing rod（14）Connect and compose revolute pair and multiple push rod（13）It lower end can be along swing rod（14）Axis direction sliding；
The walking support leg device and lower platform（2）It is hinged to form revolute pair；
The fixing supporting legs（11）It is interspersed with walking support leg device.
2. wheel leg type parallel connection mobile robot according to claim 1, it is characterised in that：The walking support leg device packet
Include upper connecting rod（3-1）, lower link（3-2）With support foot（5）, upper connecting rod（3-1）With lower link（3-2）Hingedly, upper connecting rod（3-1）
Top and lower platform（2）Hingedly, support foot（5）It is articulated with lower link（3-2）Bottom end.
3. wheel leg type parallel connection mobile robot according to claim 2, it is characterised in that：Wherein one group of walking support leg device
Lower link（3-2）Inside is connected with driven wheel（16）, the other lower link of two groups of walking support leg devices（3-2）Inside is connected with
Driving wheel（9）.
4. wheel leg type parallel connection mobile robot according to claim 3, it is characterised in that：The driving wheel（9）Axle center
Line and lower link（3-2）Axis is at 30 ° of angles, driven wheel（16）It is free to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820764188.0U CN208165135U (en) | 2018-05-22 | 2018-05-22 | A kind of wheel leg type parallel connection mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820764188.0U CN208165135U (en) | 2018-05-22 | 2018-05-22 | A kind of wheel leg type parallel connection mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208165135U true CN208165135U (en) | 2018-11-30 |
Family
ID=64363784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820764188.0U Expired - Fee Related CN208165135U (en) | 2018-05-22 | 2018-05-22 | A kind of wheel leg type parallel connection mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208165135U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109839088A (en) * | 2019-02-26 | 2019-06-04 | 中北大学 | A kind of mechanism of portable combination of rigidity and flexibility and robot performance's test device |
| CN109839087A (en) * | 2019-02-26 | 2019-06-04 | 中北大学 | A kind of mechanism of portable combination of rigidity and flexibility and robot performance's test method |
| CN110404203A (en) * | 2019-08-03 | 2019-11-05 | 任玉志 | A kind of deep well rescue machine people |
| CN112319650A (en) * | 2020-11-11 | 2021-02-05 | 武汉理工大学 | Umbrella-shaped all-terrain foot mechanism |
| CN114434420A (en) * | 2021-12-31 | 2022-05-06 | 德清县浙工大莫干山研究院 | Four-foot type movable operation platform capable of positioning posture |
-
2018
- 2018-05-22 CN CN201820764188.0U patent/CN208165135U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109839088A (en) * | 2019-02-26 | 2019-06-04 | 中北大学 | A kind of mechanism of portable combination of rigidity and flexibility and robot performance's test device |
| CN109839087A (en) * | 2019-02-26 | 2019-06-04 | 中北大学 | A kind of mechanism of portable combination of rigidity and flexibility and robot performance's test method |
| CN110404203A (en) * | 2019-08-03 | 2019-11-05 | 任玉志 | A kind of deep well rescue machine people |
| CN112319650A (en) * | 2020-11-11 | 2021-02-05 | 武汉理工大学 | Umbrella-shaped all-terrain foot mechanism |
| CN114434420A (en) * | 2021-12-31 | 2022-05-06 | 德清县浙工大莫干山研究院 | Four-foot type movable operation platform capable of positioning posture |
| CN114434420B (en) * | 2021-12-31 | 2023-07-04 | 德清县浙工大莫干山研究院 | Four-foot type movable operation platform capable of determining pose |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208165135U (en) | A kind of wheel leg type parallel connection mobile robot | |
| CN110962955B (en) | Few-driving-wheel leg type composite robot for planet detection | |
| CN109986579B (en) | Multi-mode motion primate-imitating robot | |
| CN110077486B (en) | Bionic eight-foot special robot | |
| CN110884588A (en) | Quadruped robot platform based on serial mechanical legs | |
| CN110962957A (en) | Double-leg double-wheel compound motion robot | |
| CN111516774B (en) | But biped four-footed integration real-time switch foot formula robot | |
| CN113753152A (en) | Three-degree-of-freedom full-decoupling parallel mechanical leg structure and four-foot robot | |
| CN115285250A (en) | Six-wheel leg composite moving action robot with leg and arm multiplexing function | |
| CN116714696A (en) | Multi-mode double-mechanical-arm wheel-foot robot and control method thereof | |
| CN113371094B (en) | Wheel-foot type robot leg mechanism and wheel-foot type robot | |
| CN110789632A (en) | Four-foot wheeled robot | |
| CN104354784A (en) | Bipedal robot capable of quickly walking | |
| CN211308784U (en) | Four-foot wheeled robot | |
| CN203172754U (en) | Rollable six-foot robot | |
| CN209479812U (en) | A kind of multi-foot robot to roll with obstacle detouring | |
| CN109292017B (en) | Wheel-leg-changeable multi-legged robot | |
| CN103264735A (en) | Underactuated mixed-connected travelling mechanism | |
| CN112278105B (en) | Six-rod mechanism for foot type robot | |
| CN205396270U (en) | A tripodia robot for danger area soil sampling | |
| CN104925160B (en) | The walking robot leg configuration of linear drives and Six-foot walking robot in parallel | |
| CN114506400B (en) | Bionic foot type robot based on centralized driving four-degree-of-freedom leg structure | |
| CN209634606U (en) | There are two types of the novel multi-foot robot devices of motor pattern for a kind of tool | |
| CN112693540B (en) | Parallel driving mechanism for crawling mechanical legs | |
| CN112519918A (en) | Wheel-foot hybrid robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181130 Termination date: 20210522 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |