CN213735268U - Two-wheeled quadruped robot - Google Patents
Two-wheeled quadruped robot Download PDFInfo
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- CN213735268U CN213735268U CN202022641645.7U CN202022641645U CN213735268U CN 213735268 U CN213735268 U CN 213735268U CN 202022641645 U CN202022641645 U CN 202022641645U CN 213735268 U CN213735268 U CN 213735268U
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Abstract
A two-wheeled quadruped robot belongs to the technical field of mechanism design. The two-wheeled quadruped robot comprises a chassis, walking wheels and a mass center adjusting mechanism, wherein the walking wheels are fixedly arranged at one end of a walking motor shaft on two sides of the chassis, and the mass center adjusting mechanism is arranged below the chassis. When the robot is in a wheel type robot structure, the walking speed is high, the movement is flexible, and the robot is suitable for running on a relatively flat road surface; when the robot is deformed into a leg type robot structure, the walking robot can simulate walking of quadruped animals, the walking robot can walk in a foot type mode under a complex environment, and the center of mass adjusting mechanism is used for adjusting the position of the center of gravity of the robot under the leg type structure. The two-wheeled quadruped robot has the advantages of stable structure, large wheel diameter and strong obstacle crossing capability.
Description
Technical Field
The utility model relates to a mechanism design technical field, in particular to two-wheeled quadruped robot.
Background
The two-wheel robot has simple structure, flexible movement and high moving speed, but the wheel diameter of the common wheel robot is small, the obstacle crossing capability is poor, the two-wheel robot is difficult to adapt to the complex road condition with large obstacles, and the two-wheel robot is generally difficult to pass through when meeting large gullies. The two-wheeled robot disclosed in the patent with the application numbers 201210470502.1 and 201710061707.7 is provided with a mass center adjusting device so as to improve the climbing capability of the robot and still be difficult to adapt to the rugged and complex road environment. Compared with a two-wheeled robot, the four-legged robot has strong environment adaptability, can walk on a flat road surface and also can walk in a rugged environment, has strong obstacle crossing capability, but has slow walking speed and low efficiency. In order to combine the advantage of two-wheeled robot and four-footed robot, improve the environment adaptability of robot, realize walking under rugged and complicated environment, the utility model discloses will provide a flexible robot for two-wheeled structure, also can be out of shape to the four-footed structure.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem that the adaptation environmental capability that current wheel leg robot exists is poor, be difficult to stride across big barrier etc, the utility model aims at providing a two-wheeled four-footed robot, its simple structure, wheel footpath are great, but the walking of two-wheeled, also the walking of four-footed has stronger environmental adaptability.
In order to realize the purpose, the technical scheme of the utility model is that:
a two-wheeled quadruped robot comprises a chassis, traveling wheels and a mass center adjusting mechanism, and is characterized in that a pair of traveling wheels are fixedly arranged at one end of a traveling motor shaft at two sides of the chassis through traveling wheel mounting holes, and the mass center adjusting mechanism is arranged below the chassis through mass center adjusting mechanism mounting holes;
the chassis comprises a chassis frame, a walking motor and a walking motor shaft, wherein a walking motor mounting hole and a walking motor shaft hole are formed in the side surface of the chassis frame;
the walking wheel comprises a wheel leg support, a leg walking driving device, leg pin shafts, telescopic legs, a wheel lock and a lock catch, wherein the two telescopic legs are respectively hinged and installed on the wheel leg support through the two leg pin shafts;
the center of mass adjusting mechanism comprises a balancing weight supporting plate, a balancing weight adjusting screw and a balancing weight adjusting motor, wherein two ends of the balancing weight adjusting screw are arranged in the balancing weight supporting plate through bearings, one end of the balancing weight adjusting screw is fixedly connected with the balancing weight adjusting motor, the balancing weight adjusting motor is fixedly arranged on the balancing weight supporting plate, the balancing weight is provided with a threaded hole matched with the balancing weight adjusting screw, the balancing weight adjusting screw penetrates through the threaded hole of the balancing weight, and the balancing weight can move along the balancing weight adjusting screw;
the wheel leg support comprises support side plates, swing motor mounting seats, bearing supports I, bearing supports II and a sliding block guide rail, the two support side plates are fixedly connected together through the two swing motor mounting seats, the two bearing supports I and the two bearing supports II in an aligned mode, the two swing motor mounting seats, the two bearing supports I and the two bearing supports II are located between the two support side plates, the bearing supports I and the bearing supports II are respectively provided with bearing mounting holes I and bearing mounting holes II, the bearing mounting holes I and the bearing mounting holes II are coaxially arranged, the sliding block guide rail is fixed on the support side plates in a direction parallel to a driving lead screw, and traveling wheel mounting holes and leg pin shaft mounting holes I are machined in the support side plates;
the leg type walking driving device comprises a swing motor, a swing motor bracket, a coupler, a driving screw, a slider pin shaft, a screw nut, a slider, a connecting rod and a swing pin shaft, wherein the swing motor is arranged on the swing motor bracket which is arranged on a swing motor mounting seat of the wheel leg bracket, an output shaft of the swing motor is connected with one end of the driving screw through the coupler, two ends of the driving screw are arranged on a bearing support I and a bearing support II through bearings, the screw nut is arranged at the middle part of the driving screw, the screw nut is fixedly arranged on the slider through a screw nut mounting hole and a screw hole and is coaxially arranged with the screw nut mounting hole, one end of the connecting rod is arranged in a connecting rod mounting groove of the slider and is hinged with the slider through the slider pin shaft, the slider pin shaft penetrates into the connecting rod pin shaft mounting hole of the slider, and the other end of the connecting rod is hinged with the telescopic leg through the swing pin shaft, the swing pin shaft penetrates into the swing pin shaft holes of the telescopic legs, the two groups of leg type walking driving devices are symmetrically arranged on the left side and the right side of the wheel leg support, and a screw rod nut mounting hole, a connecting rod mounting groove, a connecting rod pin shaft mounting hole and a screw hole are machined in the sliding block;
the telescopic leg comprises telescopic leg side plates, side plate supporting blocks, an electric push rod pin shaft, an electric push rod and an electric push rod stop block, wherein the two telescopic leg side plates are aligned and fixedly connected together through the side plate supporting blocks and the electric push rod stop block, the electric push rod is hinged with the telescopic leg side plates through the electric push rod pin shaft, the electric push rod is fixedly installed between the two telescopic leg side plates through the electric push rod stop block, and a swing pin shaft hole and a leg pin shaft mounting hole II are processed in the telescopic leg side plates.
The utility model has the advantages that:
the two-wheeled quadruped robot of the utility model can be converted into a two-wheeled robot, has the characteristics of stable structure and larger wheel diameter, can rapidly walk on a flat road surface, and has stronger road surface adaptability; the robot also can be changed into a leg-foot robot in a four-foot form, the position of the center of mass of the robot is adjusted through the leg-type walking driving device, the telescopic legs and the center of mass adjusting mechanism, the four-foot walking mode similar to animals can be realized, the robot can adapt to rugged and complex road environments, the leg-type walking driving device of the walking wheel adopts a connecting rod mechanism, and the robot is simple in structure and easy to manufacture.
Drawings
Fig. 1 is a schematic structural view of a two-wheeled quadruped robot when the two-wheeled quadruped robot is converted into a two-wheeled robot;
fig. 2 is a schematic structural view of a two-wheeled quadruped robot when the two-wheeled quadruped robot is converted into a quadruped robot;
fig. 3 is a schematic view of a chassis structure of a two-wheeled quadruped robot provided by the present invention;
fig. 4 is a schematic view of a wheel-shaped structure of a walking wheel of a two-wheeled quadruped robot provided by the present invention;
fig. 5 is a partial cross-sectional view of a wheel-shaped structure schematic diagram of a walking wheel of a two-wheeled quadruped robot provided by the present invention;
fig. 6 is a schematic view of a leg structure of a walking wheel of a two-wheeled quadruped robot provided by the present invention;
fig. 7 is a front view of the wheel leg support of the two-wheeled quadruped robot provided by the present invention with one support side plate removed;
fig. 8 is a wheel leg support axis view of the two-wheeled quadruped robot provided by the present invention;
fig. 9 is a schematic structural view of a leg type walking driving device of a two-wheeled quadruped robot provided by the present invention;
fig. 10 is a front view of the two-wheeled quadruped robot with one side plate of the telescopic leg removed;
fig. 11 is an axial view of a telescopic leg of the two-wheeled quadruped robot provided by the present invention;
fig. 12 is a partially enlarged view of the telescopic legs of the two-wheeled quadruped robot provided by the present invention;
fig. 13 is a schematic structural view of a centroid adjusting mechanism of a two-wheeled quadruped robot provided by the present invention;
fig. 14 is a schematic structural view of a chassis frame of a two-wheeled quadruped robot provided by the present invention;
fig. 15 is a schematic view of a slide block structure of a two-wheeled quadruped robot provided by the present invention;
fig. 16 is a schematic structural view of a bearing seat I of a two-wheeled quadruped robot provided by the present invention;
fig. 17 is a schematic structural view of a bearing seat ii of the two-wheeled quadruped robot provided by the present invention; .
In the figure:
1. the walking wheel, 2, a chassis, 3, a mass center adjusting mechanism, 1-1, a wheel leg bracket, 1-2, a leg type walking driving device, 1-3, a leg pin shaft, 1-4, a telescopic leg, 1-5, a wheel lock, 1-6, a lock catch, 1-1-1, a bracket side plate, 1-1-2, a swinging motor mounting seat, 1-1-3, a bearing support I, 1-1-4, a bearing support II, 1-1-5, a slide block guide rail, 1-1-6, a walking wheel mounting hole, 1-1-7, a leg pin shaft mounting hole I, 1-2-1, a swinging motor, 1-2-2, a swinging motor bracket, 1-2-3, a coupler, 1-2-4 and a driving screw rod, 1-2-5 parts of a sliding block pin shaft, 1-2-6 parts of a screw nut, 1-2-7 parts of a sliding block, 1-2-8 parts of a connecting rod, 1-2-9 parts of a swing pin shaft, 1-4-1 parts of a telescopic leg side plate, 1-4-2 parts of a side plate supporting block, 1-4-3 parts of an electric push rod pin shaft, 1-4-4 parts of an electric push rod, 1-4-5 parts of an electric push rod stop block, 1-4-6 parts of a swing pin shaft hole, 1-4-7 parts of a leg pin shaft mounting hole II, 1-1-3-1 parts of a bearing mounting hole I, 1-1-3-2 parts of a bearing support I mounting hole, 1-1-4-1 part of a bearing mounting hole II, 1-1-4-2 parts of a bearing support I mounting hole II, 1-2-7-1 parts of mounting holes of a bearing support II, 1-2-7-2 parts of mounting holes of a screw rod and a nut, 1-2-7-2 parts of mounting grooves of a connecting rod, 1-2-7-3 parts of mounting holes of a connecting rod pin shaft, 1-2-7-4 parts of screw holes, 2-1 parts of chassis frames, 2-2 parts of a walking motor, 2-3 parts of a walking motor shaft, 2-1-1 parts of mounting holes of a mass center adjusting mechanism, 2-1-2 parts of mounting holes of the walking motor, 2-1-3 parts of mounting holes of the walking motor shaft, 3-1 parts of shaft holes of the walking motor, 3-2 parts of support plates of a balancing weight, 3-3 parts of the balancing weight, 3-3 parts of adjusting screw rods, 3-4 parts of adjusting motors of the balancing weight.
Detailed Description
The technical solution in 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. In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "front", "rear", "both ends", "one end", "the other end" and the like indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," and may be fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In order to solve the problems in the prior art, as shown in fig. 1 to 17, the utility model provides a two-wheeled quadruped robot, which comprises a chassis 2, walking wheels 1 and a mass center adjusting mechanism 3, and is characterized in that a pair of walking wheels 1 are fixedly arranged at one end of a walking motor shaft 2-3 at two sides of the chassis 2 through walking wheel mounting holes 1-1-6, and the mass center adjusting mechanism 3 is arranged below the chassis 2 through a mass center adjusting mechanism mounting hole 2-1-1;
the chassis 2 comprises a chassis frame 2-1, a walking motor 2-2 and a walking motor shaft 2-3, wherein a walking motor mounting hole 2-1-2 and a walking motor shaft hole 2-1-3 are formed in the side surface of the chassis frame 2-1, the walking motor 2-2 is fixedly mounted on the side surface of the chassis frame 2-1 through the walking motor mounting hole 2-1-2, one end of the walking motor shaft 2-3 penetrates through the walking motor mounting hole 2-1-3 of the chassis frame 2-1 and is mounted in the walking motor 2-2 through key connection, and the other end of the walking motor shaft 2-3 is fixedly connected with the walking wheel 1;
the walking wheel 1 comprises a wheel leg support 1-1, a leg type walking driving device 1-2, leg pin shafts 1-3, telescopic legs 1-4, a wheel lock 1-5 and a lock catch 1-6, wherein the two telescopic legs 1-4 are respectively hinged on the wheel leg support 1-1 through the two leg pin shafts 1-3, the leg pin shafts 1-3 are arranged in leg pin shaft mounting holes I1-1-7 of the wheel leg support 1-1 and leg pin shaft mounting holes II 1-4-7 of the telescopic legs 1-4, the leg type walking driving device 1-2 is arranged in the wheel leg support 1-1 through a swing motor mounting seat 1-1-2, a bearing support I1-1-3 and a bearing support II 1-1-4, a swing pin shaft 1-2-9 of the leg type walking driving device 1-2 is arranged in a swing pin shaft of the telescopic legs 1-4 In the holes 1-4-6, the wheel locks 1-5 are fixedly arranged at the tail end of one telescopic leg 1-4, and the lock catches 1-6 are fixedly arranged at the tail end of the other telescopic leg 1-4;
the mass center adjusting mechanism 3 comprises a counterweight block supporting plate 3-1, a counterweight block 3-2, a counterweight block adjusting screw 3-3 and a counterweight block adjusting motor 3-4, two ends of the counterweight block adjusting screw 3-3 are arranged in the counterweight block supporting plate 3-1 through bearings, one end of the balancing weight adjusting motor is fixedly connected with a balancing weight adjusting motor 3-4, the balancing weight adjusting motor 3-4 is fixedly arranged on a balancing weight supporting plate 3-1, a balancing weight 3-2 is vertically arranged with a balancing weight adjusting screw 3-3, the counterweight block 3-2 is provided with a threaded hole matched with the counterweight block adjusting screw 3-3, the counterweight block adjusting screw 3-3 penetrates through the threaded hole of the counterweight block 3-2, and the counterweight block 3-2 can move along the counterweight block adjusting screw 3-3;
the wheel leg support 1-1 comprises support side plates 1-1-1, swing motor mounting seats 1-1-2, bearing supports I1-1-3, bearing supports II 1-1-4 and sliding block guide rails 1-1-5, the two support side plates 1-1-1 are fixedly connected together through two swing motor mounting seats 1-1-2, two bearing supports I1-1-3 and two bearing supports II 1-1-4 in an aligned mode, the two swing motor mounting seats 1-1-2, the two bearing supports I1-1-3 and the two bearing supports II 1-1-4 are located between the two support side plates 1-1-1, and the bearing supports I1-1-3 and the bearing supports II 1-1-4 are respectively provided with bearing mounting holes I1-1-3-1 and bearing supports II 1-1-4 The device comprises a support side plate 1-1-1, a bearing mounting hole II 1-1-4-1, a bearing mounting hole I1-1-3-1 and the bearing mounting hole II 1-1-4-1 are coaxially arranged, a sliding block guide rail 1-1-5 is fixed on the support side plate 1-1-1 in a direction parallel to a driving screw rod 1-2-4, and a traveling wheel mounting hole 1-1-6 and a leg pin shaft mounting hole I1-1-7 are processed on the support side plate 1-1-1;
the leg type walking driving device 1-2 comprises a swing motor 1-2-1, a swing motor support 1-2-2, a coupler 1-2-3, a driving screw 1-2-4, a slider pin 1-2-5, a screw nut 1-2-6, a slider 1-2-7, a connecting rod 1-2-8 and a swing pin 1-2-9, wherein the swing motor 1-2-1 is arranged on the swing motor support 1-2-2, the swing motor support 1-2-2 is arranged on a swing motor mounting seat 1-1-2 of the wheel leg support 1-1, an output shaft of the swing motor 1-2-1 is connected with one end of the driving screw 1-2-4 through the coupler 1-2-3, two ends of a driving screw 1-2-4 are arranged on a bearing support I1-1-3 and a bearing support II 1-1-4 through bearings, a screw nut 1-2-6 is arranged in the middle of the driving screw 1-2-4, the screw nut 1-2-6 is fixedly arranged on a sliding block 1-2-7 through a screw nut mounting hole 1-2-7-1 and a screw hole 1-2-7-4, the screw nut 1-2-6 and the screw nut mounting hole 1-2-7-1 are coaxially arranged, one end of a connecting rod 1-2-8 is arranged in a connecting rod mounting groove 1-2-7-2 of the sliding block 1-2-7 and hinged with the sliding block 1-2-7 through a sliding block pin shaft 1-2-5, the sliding block pin shaft 1-2-5 penetrates into the connecting rod pin shaft mounting hole 1-2-7-3 of the sliding block 1-2-7, the other end of the connecting rod 1-2-8 is hinged with the telescopic leg 1-4 through a swinging pin shaft 1-2-9, the swinging pin shaft 1-2-9 penetrates into a swinging pin shaft hole 1-4-6 of the telescopic leg 1-4, the two groups of leg type walking driving devices 1-2 are symmetrically arranged at the left side and the right side of the wheel leg bracket 1-1, a screw nut mounting hole 1-2-7-1, a connecting rod mounting groove 1-2-7-2, a connecting rod pin shaft mounting hole 1-2-7-3 and a screw hole 1-2-7-4 are machined in the sliding block 2-7;
the telescopic legs 1-4 comprise telescopic leg side plates 1-4-1, side plate supporting blocks 1-4-2, electric push rod pin shafts 1-4-3, electric push rods 1-4-4 and electric push rod stoppers 1-4-5, the two telescopic leg side plates 1-4-1 are aligned and fixedly connected together through the side plate supporting blocks 1-4-2 and the electric push rod stoppers 1-4-5, the electric push rods 1-4-4 are hinged with the telescopic leg side plates 1-4-1 through the electric push rod pin shafts 1-4-3, the electric push rods 1-4-4 are fixedly arranged between the two telescopic leg side plates 1-4-1 through the electric push rod stoppers 1-4-5, swing pin shaft holes 1-4-6 and leg pin shaft mounting holes are processed in the telescopic leg side plates 1-4-1 And holes II are 1-4-7.
The utility model provides a method of marcing when two-wheeled quadruped robot changes two-wheeled robot is: after the robot is changed into a two-wheel structure, a walking motor 2-2 rotates to drive a walking wheel 1 to rotate through a walking motor shaft 2-3, and if the two walking wheels 1 rotate in the same direction and at the same speed, the robot travels along a straight line; if the two walking wheels 1 rotate in the same direction and at different speeds, the robot can realize large-radius turning; if one walking wheel 1 of the robot rotates and the other walking wheel 1 does not rotate, the robot can realize right-angle turning; if the two walking wheels 1 rotate reversely at the same speed, the robot can realize in-situ turning; namely, the rotating speed and the steering of the two walking wheels 1 are adjusted, and the two wheels of the robot can advance, retreat and turn.
The utility model provides a two-wheeled quadruped robot is by the process of two-wheeled robot transform for quadruped robot:
the robot rolls until the wheel leg supports 1-1 of the two walking wheels are all positioned right above, then the walking motor 2-2 is rotated to adjust the robot to enable the landing positions of the left front leg and the right front leg to be just away from the ground, the swing motor 1-2-1 of the leg type walking drive device 1-2 of the left front leg and the right front leg simultaneously rotates, the driving screw 1-2-4 is driven to rotate through the coupler 1-2-3, the driving screw 1-2-4 drives the slide block 1-2-7 to move upwards along the driving screw 1-2-4, the slide block 1-2-7 drives the telescopic leg 1-4 to lift upwards around the leg pin 1-3 through the slide block pin 1-2-5, the connecting rod 1-2-8 and the swing pin 1-2-9, simultaneously, electric push rods 1-4-4 of the left front leg and the right front leg gradually extend out, when the left front leg and the right front leg are lifted to proper positions and the electric push rods 1-4-4 extend out for proper lengths, swing motors 1-2-1 of leg type walking driving devices 1-2 of the left front leg and the right front leg stop rotating and the electric push rods 1-4-4 stop extending out; then, the walking motor 2-2 is rotated reversely to enable the electric push rods 1-4-4 of the left front leg and the right front leg of the robot to stretch out to be grounded and supported on the ground, the swing motors 1-2-1 of the leg type walking driving devices 1-2 of the left rear leg and the right rear leg are rotated simultaneously, the electric push rods 1-4-4 of the left rear leg and the right rear leg gradually stretch out to enable the robot to stand gradually as a whole, after the robot reaches a proper position, the swing motors 1-2-1 of the leg type walking driving devices 1-2 of the left rear leg and the right rear leg stop rotating, the electric push rods 1-4-4 stop stretching out, and the robot is finished by transforming a two-wheel structure into a four-foot structure.
The utility model provides a method of marcing when two-wheeled quadruped robot changes four-legd robot is:
(1) in the gravity center backward movement stage, a balancing weight adjusting motor 3-4 drives a balancing weight adjusting screw 3-3 to rotate, the balancing weight adjusting screw 3-3 drives a balancing weight 3-2 to move backward, so that the gravity center of the robot moves backward and mainly acts on electric push rods 1-4-4 of two telescopic legs 1-4 behind the robot;
(2) in the stage of forward stepping of the front legs, an extension bar of an electric push rod 1-4-4 of the left front leg of the robot slightly retracts to lift the left front leg off the ground, a swing motor 1-2-1 of a leg type walking driving device 1-2 drives a telescopic leg 1-4 to rotate around a leg pin shaft 1-3 to step forward to a proper position, the extension bar of the electric push rod 1-4-4 extends, when the extension bar of the electric push rod 1-4-4 contacts the ground, the extension bar of an electric push rod 1-4-4 of the right front leg of the robot slightly retracts to lift the right front leg off the ground, a swing motor 1-2-1 of the leg type walking driving device 1-2 drives the telescopic leg 1-4 to rotate around the leg pin shaft 1-3 to step forward to a proper position, and the extension bar of the electric push rod 1-4-4 extends, when the extension rod of the electric push rod 1-4-4 contacts the ground, the robot takes one step forward;
(3) in the gravity center forward moving stage, extension rods of electric push rods 1-4-4 of two telescopic legs 1-4 of a left rear leg and a right rear leg of the robot are extended synchronously, the extension rods of the electric push rods 1-4-4 of the two telescopic legs 1-4 of the left front leg and the right front leg of the robot are retracted synchronously, and a counterweight adjusting motor 3-4 adjusts forward movement of a counterweight 3-2, so that the gravity center of the robot acts on the electric push rods 1-4-4 of the two telescopic legs 1-4 in front;
(4) in the stage of forward stepping of the rear legs, the electric push rod 1-4-4 of the left rear leg of the robot retracts to a proper position, meanwhile, the swing motor 1-2-1 of the leg type walking driving device 1-2 of the left rear leg of the robot drives the telescopic legs 1-4 to rotate around leg pin shafts 1-3, the robot steps forward to a proper position, and an extension rod of the electric push rod 1-4-4 of the left rear leg of the robot extends to contact the ground; the electric push rod 1-4-4 of the right rear leg of the robot retracts to a proper position, meanwhile, the swing motor 1-2-1 of the leg type walking driving device 1-2 of the right rear leg of the robot drives the telescopic leg 1-4 to rotate around the leg pin shaft 1-3 and move forwards to a proper position, an extension rod of the electric push rod 1-4-4 of the right rear leg of the robot extends out to contact the ground, and the robot rear leg moves forwards.
The robot can walk on four feet by repeatedly coordinating the actions, the walking ranges of four legs of the robot are the same, the robot walks in a straight line, the walking ranges of four legs of the robot are different, and the robot walks in a steering mode.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (4)
1. A two-wheeled quadruped robot comprises a chassis, traveling wheels and a mass center adjusting mechanism, and is characterized in that a pair of traveling wheels are fixedly arranged at one end of a traveling motor shaft at two sides of the chassis through traveling wheel mounting holes, and the mass center adjusting mechanism is arranged below the chassis through mass center adjusting mechanism mounting holes;
the chassis comprises a chassis frame, a walking motor and a walking motor shaft, wherein a walking motor mounting hole and a walking motor shaft hole are formed in the side surface of the chassis frame;
the walking wheel comprises a wheel leg support, a leg walking driving device, leg pin shafts, telescopic legs, a wheel lock and a lock catch, wherein the two telescopic legs are respectively hinged and installed on the wheel leg support through the two leg pin shafts;
barycenter adjustment mechanism includes balancing weight backup pad, balancing weight adjusting screw, balancing weight adjusting motor, and the balancing weight is adjusted the screw both ends and is installed among the balancing weight backup pad through the bearing, its one end and balancing weight adjusting motor fixed connection, balancing weight adjusting motor fixed mounting in the balancing weight backup pad, the balancing weight be provided with the balancing weight adjusting screw complex screw hole, the balancing weight is adjusted the screw and is passed the screw hole of balancing weight.
2. The two-wheeled quadruped robot is characterized in that the wheel leg support comprises support side plates, swing motor mounting seats, bearing supports I, bearing supports II and a sliding block guide rail, the two support side plates are fixedly connected together in an aligned mode through the two swing motor mounting seats, the two bearing supports I and the two bearing supports II, the two swing motor mounting seats, the two bearing supports I and the two bearing supports II are located between the two support side plates, the bearing supports I and the bearing supports II are respectively provided with bearing mounting holes I and bearing mounting holes II, the bearing mounting holes I and the bearing mounting holes II are coaxially arranged, and the sliding block guide rail is fixed on the support side plates in a direction parallel to a driving lead screw.
3. The two-wheeled quadruped robot as claimed in claim 1, wherein the leg type walking drive device comprises a swing motor, a swing motor bracket, a coupling, a driving screw, a slider pin, a screw nut, a slider, a connecting rod and a swing pin, the swing motor is mounted on the swing motor bracket, the swing motor bracket is mounted on a swing motor mounting seat of the wheel leg bracket, an output shaft of the swing motor is connected with one end of the driving screw through the coupling, two ends of the driving screw are mounted on a bearing support I and a bearing support II through bearings, the screw nut is mounted at the middle part of the driving screw, the screw nut is fixedly mounted on the slider through a screw nut mounting hole and a screw hole of the slider and is coaxially arranged with the screw nut mounting hole, one end of the connecting rod is placed in a connecting rod mounting groove of the slider and is hinged with the slider through a slider pin, the slide block pin shaft penetrates into a connecting rod pin shaft mounting hole of the slide block, the other end of the connecting rod is hinged with the telescopic leg through a swinging pin shaft, the swinging pin shaft penetrates into a swinging pin shaft hole of the telescopic leg, and the two groups of leg type walking driving devices are symmetrically arranged on the left side and the right side of the wheel leg support.
4. The two-wheeled quadruped robot of claim 1, wherein the telescopic legs comprise telescopic leg side plates, side plate supporting blocks, electric push rod pin shafts, electric push rods and electric push rod stoppers, the two telescopic leg side plates are aligned and fixedly connected together through the side plate supporting blocks and the electric push rod stoppers, the electric push rods are hinged with the telescopic leg side plates through the electric push rod pin shafts, and the electric push rods are fixedly installed between the two telescopic leg side plates through the electric push rod stoppers.
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| CN202022641645.7U CN213735268U (en) | 2020-11-16 | 2020-11-16 | Two-wheeled quadruped robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112193344A (en) * | 2020-11-16 | 2021-01-08 | 辽宁工程技术大学 | Two-wheeled quadruped robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112193344A (en) * | 2020-11-16 | 2021-01-08 | 辽宁工程技术大学 | Two-wheeled quadruped robot |
| CN112193344B (en) * | 2020-11-16 | 2024-04-30 | 辽宁工程技术大学 | Two-wheeled quadruped robot |
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