CN210212570U - Gait composite wheel-advancing robot - Google Patents
Gait composite wheel-advancing robot Download PDFInfo
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- CN210212570U CN210212570U CN201921026515.3U CN201921026515U CN210212570U CN 210212570 U CN210212570 U CN 210212570U CN 201921026515 U CN201921026515 U CN 201921026515U CN 210212570 U CN210212570 U CN 210212570U
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Abstract
The utility model relates to a robot field aims at solving the current problem that propulsion structure motion mode is single, the gesture fitting nature is poor, provides a compound round of advancing robot of gait, and it includes that maincenter frame, two go up the arc circle, walking system, two lower arc circles and switching mechanism. Wherein, the two upper arcs are respectively connected with two sides of the central frame to form a main frame; the walking system is arranged on the main frame and used for realizing the walking of the robot; the switching mechanism comprises a switching motor and a connecting mechanism, the switching motor is connected with two lower arc rings through the connecting mechanism, and the switching motor can realize switching between a stepping state and a wheel advancing state through the lower arc rings driven by the connecting mechanism. The beneficial effects of the utility model are that have step-by-step mode and take turns into two kinds of motion forms of mode, can simulate the compound gait of biology such as golden wheel spider, have higher environmental suitability.
Description
Technical Field
The utility model relates to a robot field particularly, relates to the compound round of advancing robot of gait.
Background
At present, most propulsion structures adopt modes such as a single gait mechanism and limb joint waving, and have the problems of single motion mode and poor posture fitting performance.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a compound round of advancing robot of gait to the propulsion structure who solves among the prior art adopts single gait mechanism, limb joint to wave mode such as advancing, and it is single to have the motion mode, the poor problem of gesture fitting nature.
The embodiment of the utility model is realized like this:
the embodiment provides a gait compound wheeled robot which comprises a central frame, two upper arc rings, a walking system, two lower arc rings and a switching mechanism. Wherein, the two upper arcs are respectively connected with two sides of the central frame to form a main frame; the walking system is arranged on the main frame and used for realizing the walking of the robot; the walking system comprises a gait driving motor, two walking feet and a transmission mechanism, wherein the walking feet are respectively arranged on two sides of the gait driving motor, the transmission mechanism is connected between the gait driving motor and the walking feet, and the toe tips of the walking feet on the two sides are lower than the lower end surface of the main frame, so that the walking feet on the two sides support the main frame and the robot walks; the two lower arc rings are movably connected to the main frame and can be driven to switch between a stepping state and a wheel-advancing state; when the walking device is in a stepping state, the lower end surface of the lower arc ring is higher than the toe of a walking foot; when the wheel enters the state, the two lower arc rings and the two upper arc rings form a complete round wheel; the switching mechanism comprises a switching motor and a connecting mechanism, the switching motor is connected with two lower arc rings through the connecting mechanism, and the switching motor can realize switching between a stepping state and a wheel advancing state through the lower arc rings driven by the connecting mechanism.
The gait composite advancing robot in the scheme has two motion forms of a stepping mode and an advancing mode, can be switched between the two states, is different from the modes of single gait foot advancing, limb joint swinging and the like which are adopted by most of robots, and can simulate the composite gait of organisms such as golden spider and the like. Has higher environmental adaptability.
In this embodiment, the center frame includes upper and lower spaced upper and lower plates, and upper loops on both sides of the upper and lower plates are vertically connected to the corresponding sides of the upper and lower plates, respectively, to form a main frame. Optionally, the upper arc ring is approximately semicircular arc with an upward arc edge, and the lower arc ring is approximately semicircular arc with a downward arc edge.
As an embodiment, the connecting mechanism comprises a rocker arm, a connecting piece and a connecting bridge; the connecting piece vertically penetrates through and is matched with the lower plate and the upper plate in a sliding way, and a horizontal sliding groove is formed in the connecting piece; two lower arc rings are respectively connected to two ends of the bridge, the lower end of the connecting piece is connected to the middle position of the bridge, one end of the rocker arm is connected to the switching motor, the other end of the rocker arm is fixedly provided with a horizontal pin piece, and the pin piece forms a linear pair in the chute, so that the rotating motion of the rocker arm driven by the switching motor can drive the connecting piece, the bridge and the two lower arc rings connected to the bridge to move vertically. The vertical position of the lower arc ring can be controlled through the mechanism, and the switching between the stepping state and the wheel advancing state is realized.
The embodiment provides a structure for realizing stepping as follows: the transmission mechanism on each side comprises four crank gears which are sequentially and alternately arranged on the upper arc ring on the side in a rotating way, and connecting gears which are respectively meshed and matched between every two adjacent crank gears; the four crank gears and the three connecting gears on each side are meshed to form a serial gear chain; the gait driving motor is arranged on the main frame and is in transmission connection with one connecting gear on the same side so as to drive all the crank gears on the side to synchronously rotate; the upper arc ring is provided with vertical grooves along the vertical direction, each crank gear is connected with a strip-shaped step foot through a connecting rod, one end of each connecting rod is eccentrically hinged to the wheel surface of each crank gear, the other end of each connecting rod is connected with a pin rod which horizontally penetrates through the vertical groove, and the penetrating end of each pin rod is connected with the vertically arranged step foot; wherein the pin rod and the vertical groove form a vertical linear pair in front, so that the circular motion of the crank gear can drive the walking feet to perform gait motion which comprises the combination of vertical movement along with the pin rod and circular swing around the pin rod. The arrangement is a setting mode of the existing stepping structure, and basic stepping action can be realized. Of course, in other embodiments, other biomimetic robot stepping approaches and configurations, such as those proposed by the present applicant or others, may also be employed.
In this embodiment, optionally, the central engine base includes upper arc rings on two sides of the upper plate and the lower plate which are spaced up and down, and the upper arc rings are respectively vertically connected to corresponding sides of the upper plate and the lower plate to form the main frame; the gait driving motors are two in number and are respectively used for driving the transmission mechanisms on the two sides; the two gait driving motors are fixedly arranged between the upper plate and the lower plate and are positioned between the upper arc rings at the two sides. The gait driving motors are fixedly arranged between the upper plate and the lower plate and positioned between the upper arc rings at the two sides, so that the space can be fully utilized, and the overall structure of the robot is more compact. The upper arc ring is of a semicircular plate-shaped structure, and vertical grooves and holes for rotatably mounting the crank gears and the connecting gears are formed in the upper arc ring in a hollowed-out mode. The hollowed-out plate-shaped structure can reduce the structural weight while keeping the functions thereof.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a three-dimensional view (a wheel-in state) of a gait compound wheel-in robot according to an embodiment of the present invention;
FIG. 2 is a view taken along line A of FIG. 1;
FIG. 3 is a scale view of the cross-sectional view of FIG. 2 taken along line B-B;
FIG. 4 is a scale view of the cross-sectional view of FIG. 2 taken along line D-D;
fig. 5 is a three-dimensional view (step state) of the gait compound wheeled robot according to the embodiment of the present invention.
Icon: a 10-gait compound wheeled robot; 21-a central engine base; 11-upper arc ring; 12-lower arc ring; 13-upper plate; 14-a lower plate; 22-the main frame; 23-a walking system; 24-gait drive motor; 25-step feet; 26-a transmission mechanism; 27-toe; 31-a switching mechanism; 32-switching the motor; 33-a connection mechanism; 36-a rocker arm; 37-a connector; 38-connecting the bridge frame; 39-a chute; 40-a pin member; 41-crank gear; 42-connecting gear; 43-vertical slots; 44-a connecting rod; 45-pin bar; z1-arrow.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, the description is only for convenience of description and simplification, but the indication or suggestion that the device or element to be referred must have a specific position, be constructed and operated in a specific position, and thus, cannot be understood as a limitation of the present invention. Furthermore, the appearances of the terms "first," "second," and the like in the description of the present invention are only used for distinguishing between the descriptions and are not intended to indicate or imply relative importance.
Furthermore, the terms "horizontal", "vertical" and the like when used in the description of the present invention do not require that the components be absolutely horizontal or hanging, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Examples
Referring to fig. 1 to 4, the present embodiment provides a gait compound wheeled robot 10, which includes a central base 21, two upper arcs 11, a walking system 23, two lower arcs 12 and a switching mechanism 31.
Wherein, the two upper arcs 11 are respectively connected with two sides of the central frame 21 to form a main frame 22; a walking system 23 provided on the main frame 22 for walking the robot; the walking system 23 comprises a gait driving motor 24, two walking feet 25 respectively arranged at two sides and a transmission mechanism 26 connected between the gait driving motor 24 and the walking feet 25, wherein the toe tips 27 of the walking feet 25 at two sides are lower than the lower end surface of the main frame 22, so that the walking feet 25 at two sides support the main frame 22 and realize the walking of the robot; the two lower arcs 12 are movably connected to the main frame 22 and can be driven to switch between a stepping state and a wheel-stepping state; in the step state, see fig. 5, the lower end surface of the lower arc 12 is higher than the toe 27 of the step 25; in the wheel-in state, referring to fig. 1-4, the two lower arcs 12 and the two upper arcs 11 enclose a complete circular wheel; the switching mechanism 31 includes a switching motor 32 and a connecting mechanism 33, the switching motor 32 is connected to the two lower arcs 12 through the connecting mechanism 33, and the switching motor 32 can drive the lower arcs 12 through the connecting mechanism 33 to realize the switching between the stepping state and the wheel-advancing state. The direction of movement of the lower arc 12 when switching states can be seen in the direction indicated by the arrow Z1 in fig. 3.
The gait composite advancing robot 10 in the scheme has two motion forms of a stepping mode and an advancing mode, can be switched between the two states, is different from the mode of single gait foot advancing, limb joint swinging and the like which is adopted by most of the gait composite advancing robots, and can simulate the composite gait of organisms such as golden spider mites and the like. Has higher environmental adaptability.
The center frame 21 in this embodiment includes upper coils 11 on both sides of upper and lower plates 13 and 14 spaced up and down, respectively, vertically attached to corresponding sides of the upper and lower plates 13 and 14 to form a main frame 22. Optionally, the upper arc 11 is approximately semicircular arc with an upward arc edge, and the lower arc is approximately semicircular arc with a downward arc edge.
As an embodiment, the connecting mechanism 33 includes a rocker arm 36, a link 37, and a bridge 38; the connecting piece 37 vertically penetrates through and is slidably matched with the lower plate 14 and the upper plate 13, and the connecting piece 37 is provided with a horizontal sliding groove 39; the two ends of the bridge frame 38 are respectively connected with the two lower arcs 12, the lower end of the connecting piece 37 is connected with the middle position of the bridge frame 38, one end of the rocker arm 36 is connected with the switching motor 32, the other end of the rocker arm is fixedly provided with a horizontal pin piece 40, and the pin piece 40 forms a linear pair in the chute 39, so that the rotating motion of the rocker arm 36 driven by the switching motor 32 can drive the connecting piece 37, the bridge frame 38 and the two lower arcs 12 connected with the bridge frame 38 to move vertically. Through the structural arrangement, the vertical position of the lower arc ring 12 can be controlled, and the switching between the stepping state and the wheel advancing state is realized.
The embodiment provides a structure for realizing stepping as follows: the transmission mechanism 26 on each side comprises four crank gears 41 which are sequentially and alternately arranged on the upper arc ring 11 on the side in a rotating way, and connecting gears 42 which are respectively meshed and matched between every two adjacent crank gears 41; the four crank gears 41 and the three connecting gears 42 on each side are meshed to form a serial gear chain; the gait driving motor 24 is arranged on the main frame 22 and is in transmission connection with one connecting gear 42 on the same side so as to drive all the crank gears 41 on the side to synchronously rotate; a vertical groove 43 along the vertical direction is formed in the upper arc ring 11, each crank gear 41 is connected with a strip-shaped walking foot 25 through a connecting rod 44, one end of each connecting rod 44 is eccentrically and hinged to the wheel surface of the crank gear 41, the other end of each connecting rod 44 is connected with a pin rod 45 horizontally penetrating through the vertical groove 43, and the penetrating end of each pin rod 45 is connected with the vertically arranged walking foot 25; wherein the pin 45 and the vertical slot 43 form a vertical linear pair in front of each other so that the circular motion of the crank gear 41 can drive the foothold 25 to perform a gait motion comprising a combination of vertical movement with the pin 45 and a circular swing around the pin 45. The arrangement is a setting mode of the existing stepping structure, and basic stepping action can be realized. Of course, in other embodiments, other biomimetic robot stepping approaches and configurations, such as those proposed by the present applicant or others, may also be employed.
In this embodiment, optionally, the center frame 21 includes upper loops 11 on two sides of the upper plate 13 and the lower plate 14 spaced up and down, respectively, vertically connected to corresponding sides of the upper plate 13 and the lower plate 14 to form a main frame 22; the gait driving motors 24 are two in number and are respectively used for driving the transmission mechanisms 26 at the two sides; two gait drive motors 24 are fixedly mounted between the upper plate 13 and the lower plate 14 and between the upper arcs 11 on both sides. The gait driving motors 24 are fixedly arranged between the upper plate 13 and the lower plate 14 and are positioned between the upper arcs 11 at two sides, so that the space can be fully utilized, and the whole structure of the robot is more compact. The upper arc ring 11 is of a semicircular plate-shaped structure, and vertical grooves 43 and holes for rotatably mounting the crank gears 41 and the connecting gears 42 are formed in the upper arc ring through hollowing. The hollowed-out plate-shaped structure can reduce the structural weight while keeping the functions thereof.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A gait compound wheeled robot, comprising:
a hub frame;
the two upper arc rings are respectively connected to two sides of the central frame to form a main frame;
a walking system provided on the main frame for walking the robot; the walking system comprises a gait driving motor, two walking feet and a transmission mechanism, wherein the walking feet are respectively arranged on two sides of the gait driving motor, the transmission mechanism is connected between the gait driving motor and the walking feet, and the toe tips of the walking feet on the two sides are lower than the lower end surface of the main frame, so that the walking feet on the two sides support the main frame and the robot walks;
the two lower arc rings are movably connected to the main frame and can be driven to switch between a stepping state and a wheel-advancing state; when the walking device is in a stepping state, the lower end surface of the lower arc ring is higher than the toe of a walking foot; when the wheel enters the state, the two lower arc rings and the two upper arc rings form a complete round wheel; and
and the switching mechanism comprises a switching motor and a connecting mechanism, the switching motor is connected with the two lower arc rings through the connecting mechanism, and the switching motor can realize the switching between the stepping state and the wheel advancing state through the lower arc rings driven by the connecting mechanism.
2. The gait compound wheeled robot according to claim 1, characterized in that:
the central frame comprises an upper plate and a lower plate which are vertically spaced, and upper arc rings on two sides of the upper plate and the lower plate are respectively vertically connected to corresponding sides of the upper plate and the lower plate to form the main frame.
3. The gait compound wheeled robot according to claim 1, characterized in that:
the upper arc ring is approximately semicircular arc with an upward arc edge, and the lower arc ring is approximately semicircular arc with a downward arc edge.
4. The gait compound wheeled robot according to claim 2, characterized in that:
the connecting mechanism comprises a rocker arm, a connecting piece and a connecting bridge; the connecting piece vertically penetrates through the lower plate and is matched with the upper plate in a sliding way, and a horizontal sliding groove is formed in the connecting piece;
two ends of the bridge are respectively connected with two lower arcs, the lower end of the connecting piece is connected with the middle position of the bridge, one end of the rocker arm is connected with the switching motor, the other end of the rocker arm is fixedly provided with a horizontal pin piece, and the pin piece forms a linear pair in the chute, so that the rotating motion of the rocker arm driven by the switching motor (8) can drive the connecting piece, the bridge and the two lower arcs connected with the bridge to move along the vertical direction.
5. The gait compound wheeled robot according to claim 1, characterized in that:
the transmission mechanism on each side comprises four crank gears which are sequentially and alternately arranged on the upper arc ring on the side in a rotating way, and connecting gears which are respectively meshed and matched between every two adjacent crank gears; the four crank gears and the three connecting gears on each side are meshed to form a serial gear chain; the gait driving motor is arranged on the main frame and is in transmission connection with one connecting gear on the same side so as to drive all crank gears on the side to synchronously rotate;
the upper arc ring is provided with vertical grooves along the vertical direction, each crank gear is connected with one strip-shaped step foot through a connecting rod, one end of each connecting rod is eccentrically hinged to the wheel surface of each crank gear, the other end of each connecting rod is connected with a pin rod which horizontally penetrates through the vertical groove, and the penetrating end of each pin rod is connected with the vertically arranged step foot; wherein the pin rod and the vertical groove form a vertical linear pair in front of each other, so that the circular motion of the crank gear can drive the walking feet to perform gait motion which comprises the combination of vertical movement along with the pin rod and circular swinging around the pin rod.
6. The gait compound wheeled robot of claim 5, wherein:
the central frame comprises an upper plate and a lower plate which are vertically spaced, and upper arc rings on two sides of the upper plate and the lower plate are respectively and vertically connected to corresponding sides of the upper plate and the lower plate to form the main frame;
the gait driving motors are two in number and are respectively used for driving the transmission mechanisms on the two sides; and the two gait driving motors are fixedly arranged between the upper plate and the lower plate and are positioned between the upper arc rings at the two sides.
7. The gait compound wheeled robot of claim 5, wherein:
the upper arc ring is of a semicircular plate-shaped structure, and the upper arc ring is hollowed to form the vertical groove and holes for rotatably mounting the crank gears and the connecting gears.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921026515.3U CN210212570U (en) | 2019-07-03 | 2019-07-03 | Gait composite wheel-advancing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921026515.3U CN210212570U (en) | 2019-07-03 | 2019-07-03 | Gait composite wheel-advancing robot |
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| Publication Number | Publication Date |
|---|---|
| CN210212570U true CN210212570U (en) | 2020-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921026515.3U Active CN210212570U (en) | 2019-07-03 | 2019-07-03 | Gait composite wheel-advancing robot |
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| CN (1) | CN210212570U (en) |
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2019
- 2019-07-03 CN CN201921026515.3U patent/CN210212570U/en active Active
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Denomination of utility model: Gait compound wheeled robot Effective date of registration: 20220127 Granted publication date: 20200331 Pledgee: Agricultural Bank of China Limited Qingdao Sifang sub branch Pledgor: QINGDAO ZHONGKEHUIJU CULTURE CREATIVITY CO.,LTD. Registration number: Y2022370010020 |