CN214985730U - All-terrain biped wheel-leg robot - Google Patents
All-terrain biped wheel-leg robot Download PDFInfo
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- CN214985730U CN214985730U CN202121310329.XU CN202121310329U CN214985730U CN 214985730 U CN214985730 U CN 214985730U CN 202121310329 U CN202121310329 U CN 202121310329U CN 214985730 U CN214985730 U CN 214985730U
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Abstract
The utility model provides an all-terrain biped wheel-leg robot, which is used for the technical problem of narrow application range in the prior art, and comprises a wheel-leg mechanism which is arranged on the robot and consists of a fixed support and two leg mechanisms, wherein the fixed support comprises two triangular supports and two baffles; the cross position of two hypotenuses of A-frame and the cross position of a hypotenuse and base respectively set up a mounting hole, are connected with the first connecting rod and the second connecting rod of shank respectively, and wherein the cross position of two hypotenuses is fixed with second joint motor and is used for driving the second connecting rod, and the other end and the bracing piece of shank of first connecting rod and second connecting rod are connected, and the bracing piece low side is fixed with the wheel hub motor.
Description
Technical Field
The utility model belongs to the technical field of the robot, a biped wheel leg robot of full topography is related to, can be used to the goods of complicated topography to transport.
Background
The common robot leg structure mainly has wheeled and foot formula two kinds, and foot formula robot leg foot is nimble, can fall the foot on discrete strong point after planning the foot position, possess outstanding obstacle avoidance ability, is applicable to comparatively complicated earth's surface and marchs, nevertheless is greater than wheeled robot because of its foot plan of falling and the time that the motion mode consumed far away on level and smooth road surface, and operating efficiency is far less than wheeled robot, is difficult to be suitable for the high-speed scene. The utility model discloses a double-wheel-foot mixed self-balancing robot with compact structure, which is characterized in that two hub motors are arranged at the bottom of the robot and are connected with a machine body through a connecting rod, so that the robot can move up and down, can move fast and can realize self-balancing and jumping, but has the defects of difficult obstacle jumping and incapability of crossing and narrow application range when the bearing weight is larger.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the defect that above-mentioned prior art exists, provide a biped wheel leg robot of full topography for the narrower technical problem of application scope that exists because can not realize spaning the characteristic and lead to among the prior art.
In order to achieve the above object, the utility model discloses the technical scheme who takes is including installing the wheel leg mechanism on the robot, wheel leg mechanism includes fixed bolster 1 and two shank mechanisms 2, wherein:
the fixing support 1 comprises two triangular supports 11 and two baffle plates 12, two rotating pairs are respectively installed at two ends of the bottom edge of each triangular support 11, two installation holes are formed in the side surface of each baffle plate 12, the rotating pair at one end of each triangular support 11 is installed in the two installation holes in one baffle plate 12, the rotating pair at the other end of each triangular support 11 is installed in the two installation holes in the other baffle plate 12, the bottom edges of the two triangular supports 11 and the two baffle plates 12 form a rectangular structure, first joint motors 13 are respectively fixed at the positions of the two installation holes in the outer side of one baffle plate 12, and driving shafts of the first joint motors 13 penetrate through the installation holes in the baffle plates 12 to be connected with the rotating pairs installed on the bottom edge of the triangular supports 11 and are used for driving the triangular supports 11 to rotate around the bottom edges of the baffle plates; the intersection position of two bevel edges of the triangular bracket 11 and the intersection position of one bevel edge and the bottom edge are respectively provided with a mounting hole which is parallel to the baffle 12, wherein the intersection position of the two bevel edges is fixed with a second joint motor 14;
the leg mechanism 2 comprises a first connecting rod 21, a second connecting rod 22 and a supporting rod 23; the positions of the first connecting rod 21 and the second connecting rod 22 close to the two ends are respectively provided with a mounting hole;
a hub motor 24 is fixed at the bottom end of the support rod 23, and mounting holes are respectively formed at positions close to the top end and between the top end and the bottom end; the mounting hole at one end of the first connecting rod 21 is connected with the mounting hole at the top end of the support rod 23 through a revolute pair, and the mounting hole at one end of the second connecting rod 22 is connected with the mounting hole between the top end and the bottom end of the support rod 23 through a revolute pair;
the mounting hole of the free end of the first connecting rod 21 is connected with the mounting hole of the intersection position of the bevel edge and the bottom edge of the triangular bracket 11 through a rotating pair, and the mounting hole of the free end of the second connecting rod 22 is connected with the mounting hole of the intersection position of the two bevel edges of the triangular bracket 11 through a rotating pair and driven by the second joint motor 14.
Above-mentioned all terrain wheel leg formula robot, tripod 11 adopts the isosceles obtuse triangle-shaped structure.
In the all-terrain wheel-legged robot, the distance between the top end mounting hole of the support rod 23 and the in-wheel motor 24 is greater than the distance between the two mounting holes of the first connecting rod 21, and the distance between the two mounting holes of the first connecting rod 21 is greater than the distance between the two mounting holes of the second connecting rod 22.
In the all-terrain wheel-legged robot, the supporting rod 23 is provided with a mounting hole between the top end and the bottom end, and the mounting hole is deviated to one side of the top end.
Compared with the prior art, the utility model, have following advantage:
the device not only can realize straight line advancing along a plane or a ramp, turning and jumping advancing up and down steps, but also can realize transverse crossing, can adapt to the working environment under the complex scene with heavy bearing, and effectively widens the application range compared with the prior art.
Drawings
Fig. 1 is a schematic view of the whole structure of the present invention.
Fig. 2 is a schematic structural view of the fixing bracket of the present invention.
Fig. 3 is a schematic view of the leg structure of the present invention.
Fig. 4 is a schematic diagram of the operation of the robot of the present invention when it travels straight along a slope.
Fig. 5 is a schematic diagram of the operation of the robot during turning.
Fig. 6 is a schematic diagram of the operation of the robot when it jumps up to the step.
Fig. 7 is a schematic diagram of the operation of the robot in the transverse crossing.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
Referring to fig. 1, the utility model discloses an install wheel leg mechanism on robot, wheel leg mechanism includes fixed bolster 1 and two shank mechanisms 2, wherein: the fixing support 1 is structurally shown in fig. 2 and comprises two triangular supports 11 and two baffles 12, the triangular supports 11 are of an isosceles obtuse triangle structure, the stability of the robot can be effectively improved, two deep groove ball bearings which have the characteristics of small friction resistance and capability of bearing large radial load are respectively installed at two ends of the bottom edge of each triangular support 11, the cross section of each baffle 12 is rectangular, two installation holes are formed in the side surface of each baffle 12, one end of each triangular support 11 is installed in each installation hole in one baffle 12, the other end of each triangular support 11 is installed in each installation hole in the other baffle 12, the bottom edge of each triangular support 11 and the two baffles 12 form a rectangular structure, first joint motors 13 are respectively fixed at the positions of the two installation holes in the outer side of one baffle 12, and driving shafts of the first joint motors 13 penetrate through the installation holes in the baffles 12 to be connected with one end of each triangular support 11, the side swinging mechanism is used for driving the triangular support 11 to rotate around the axis of the bottom edge of the triangular support and providing side swinging freedom degree for the leg mechanism 2; the intersection position of two oblique sides of the triangular support 11 and the intersection position of one oblique side and the bottom side are respectively provided with a mounting hole which is parallel to the baffle 12, wherein a second joint motor 14 is fixed at the intersection position of the two oblique sides and is used for driving the wheel leg mechanism 2 to contract;
the leg mechanism 2 is structurally shown in fig. 3, and includes a first connecting rod 21, a second connecting rod 22 and a supporting rod 23; the positions of the first connecting rod 21 and the second connecting rod 22 close to the two ends are respectively provided with a mounting hole;
the bottom end of the support rod 23 is fixedly provided with a hub motor 24 for driving the robot to move, the structure of the robot is simpler as the hub motor omits a large number of transmission parts, and mounting holes are respectively formed in the positions, close to the top end, of the support rod 23 and between the top end and the bottom end; the mounting hole of the one end of the first connecting rod 21 is hinged to the mounting hole at the top end of the supporting rod 23, the mounting hole at one end of the second connecting rod 22 is hinged to the mounting hole between the top end and the bottom end of the supporting rod 23, the distance between the mounting hole at the top end of the supporting rod 23 and the in-wheel motor 24 is greater than the distance between the two mounting holes of the first connecting rod 21, the distance between the two mounting holes of the first connecting rod 21 is greater than the distance between the two mounting holes of the second connecting rod 22, the mounting hole arranged between the top end and the bottom end of the supporting rod 23 is deviated to one side of the top end, and the structural position can enable the robot to optimize the mass center position of the robot in the action process of simultaneously extending or contracting of the two leg mechanisms 2 so as to keep stable.
The mounting hole of the free end of the first connecting rod 21 is hinged with the mounting hole of the intersection position of the bevel edge and the bottom edge of the triangular support 11, and the mounting hole of the free end of the second connecting rod 22 is hinged with the mounting hole of the intersection position of the two bevel edges of the triangular support 11 and is driven by the second joint motor 14.
The working principle of the utility model is that when the robot advances along the straight line, the control hub motor 24 rotates to drive the robot to advance and retreat.
Referring to fig. 4, when the robot travels straight along the slope, wherein fig. 4(a) is the working principle when the robot travels straight along the upper slope: when the left-side hub motor 24 is higher than the right-side hub motor 24 due to the fact that the left-side hub motor 24 is inclined upwards, the left-side second joint motor 14 is controlled to rotate to enable the leg mechanism 2 to be retracted, and the machine body is kept horizontal and not inclined. Fig. 4(b) shows the working principle of the robot when traveling perpendicular to the slope: the left-side hub motor 24 is higher than the right-side hub motor 24 in level on the slope, the left-side second joint motor 14 is controlled to rotate to enable the leg mechanism 2 to contract, and the machine body is kept horizontal and not inclined.
When the robot passes through the height limiting channel in the process of traveling, the two second joint motors 14 are controlled to rotate, so that the leg mechanisms 2 are contracted to reduce the height of the robot. When the two hub motors 24 have a height difference in the landing positions during traveling, such as when the vehicle travels on a slope in any direction as shown in fig. 4(b), the second joint motors 14 are controlled to rotate to respectively extend or retract the two leg mechanisms 2 so as to compensate for the inclination of the vehicle body caused by the height difference of the two hub motors 24, and the stability of the vehicle body is maintained.
Referring to fig. 5, when the robot turns on the spot, the on-spot steering is achieved by controlling the differential speed of the two-hub motor 24.
When the robot makes a sharp turn, the left hub motor 24 is controlled to rotate slightly faster than the right hub motor 24, the left second joint motor 14 is controlled to rotate to extend the left leg mechanism, the right second joint motor 14 is controlled to rotate to contract the right leg mechanism 12, the left leg mechanism 2 is higher than the right leg mechanism 2, and the tilting robot provides extra centripetal force to make a quick turn.
Referring to fig. 6, when the robot jumps up to the step, the two second joint motors 14 are controlled to contract the leg mechanisms 2 to enable the robot to enter the lowest posture, when the robot approaches to the step, the second joint motors 14 are controlled to rapidly extend the leg mechanisms 2 to enable the robot to jump up, and then the second joint motors 14 are controlled to contract the leg mechanisms to enable the robot to reach the maximum ground clearance to jump up to the step across obstacles.
When the robot jumps down to the steps, the principle of the robot is the same as that of the robot jumping up to the steps. First, the two second joint motors 14 are controlled to contract the legs, and when the legs approach the steps, the second joint motors 14 are controlled to rapidly extend the leg mechanisms 2, so that the robot jumps up and jumps down the steps.
Referring to fig. 7, when the robot crosses over laterally, wherein fig. 7(a) controls two first joint motors 13 to contract one of two leg mechanisms 2, extend the other to incline the robot, and move the center of gravity to the leg mechanism 2 with lower height, and the center of gravity is all moved to the right leg mechanism 2, wherein fig. 7(b) controls the left first joint motor 13 to rotate, so that the left triangular bracket 12 drives the left leg mechanism 2 to rotate clockwise, and controls the right first joint motor 13 to rotate, so that the right triangular bracket 12 drives the right leg mechanism 2 to rotate counterclockwise, so that the robot keeps balance, wherein fig. 7(c) controls the left second joint motor 14 to rotate to extend the left leg mechanism 2 in the air until the hub motor 24 contacts the ground, wherein 7(d) controls the left first joint motor 13 to rotate to drive the left triangular bracket 12 to rotate so that the left leg mechanism 2 rotates clockwise, meanwhile, the right first joint motor 13 is controlled to rotate to drive the right triangular support 12 to rotate so that the right leg mechanism 2 rotates anticlockwise until the gravity center is completely moved to the left leg mechanism 2, wherein in the step (e) in fig. 7, the right second joint 14 is controlled to enable the right leg mechanism 2 to contract, then the right first joint motor 13 is controlled to rotate to drive the right triangular support 12 to rotate so that the right leg mechanism 2 rotates clockwise until the right leg mechanism 2 is vertical to the baffle 12, the left first joint motor 13 is controlled to rotate to drive the left triangular support 12 to rotate so that the left leg mechanism rotates clockwise to keep the balance of the machine body while the second joint motor 14 and the right first joint motor 14 rotate, and finally the left first joint motor 13 is rapidly rotated to drive the left triangular support 12 to rotate so that the left leg mechanism 2 rotates clockwise until the left leg mechanism 2 is vertical to the baffle 12, in fig. 7(f), the center of gravity moves to the right, so that the right in-wheel motor 24 falls to the ground, and the left crossing is completed, and the initial posture is restored.
Claims (4)
1. An all-terrain biped wheel-leg robot, comprising a wheel-leg mechanism installed on the robot, characterized in that the wheel-leg mechanism comprises a fixed bracket (1) and two leg mechanisms (2), wherein:
the fixed support (1) comprises two triangular supports (11) and two baffles (12), two ends of the bottom edge of the triangular support (11) are respectively provided with a revolute pair, the side surface of the baffle plate (12) is provided with two mounting holes, the revolute pairs at one end of the two triangular brackets (11) are arranged in two mounting holes on one baffle plate (12), the revolute pair at the other end is arranged in two mounting holes on the other baffle plate (12), the bottom edges of the two triangular brackets (11) and the two baffle plates (12) form a rectangular structure, the positions of two mounting holes at the outer side of one baffle (12) are respectively fixed with a first joint motor (13), a driving shaft of the first joint motor (13) passes through a mounting hole arranged on the baffle (12) and is connected with a revolute pair mounted on the bottom edge of the triangular support (11) for driving the triangular support (11) to rotate around the axis of the bottom edge of the triangular support; the intersection position of two bevel edges of the triangular support (11) and the intersection position of one bevel edge and the bottom edge are respectively provided with a mounting hole parallel to the baffle (12), and a second joint motor (14) is fixed at the intersection position of the two bevel edges;
the leg mechanism (2) comprises a first connecting rod (21), a second connecting rod (22) and a supporting rod (23); the positions of the first connecting rod (21) and the second connecting rod (22) close to the two ends are respectively provided with a mounting hole; a hub motor (24) is fixed at the bottom end of the supporting rod (23), and mounting holes are respectively formed at positions close to the top end and between the top end and the bottom end; the mounting hole at one end of the first connecting rod (21) is connected with the mounting hole at the top end of the support rod (23) through a revolute pair, and the mounting hole at one end of the second connecting rod (22) is connected with the mounting hole between the top end and the bottom end of the support rod (23) through a revolute pair;
the mounting hole of the free end of the first connecting rod (21) is connected with the mounting hole of the intersection position of the bevel edges and the bottom edge of the triangular support (11) through a revolute pair, and the mounting hole of the free end of the second connecting rod (22) is connected with the mounting hole of the intersection position of the two bevel edges of the triangular support (11) through a revolute pair and driven by the second joint motor (14).
2. The all-terrain bipedal wheel-leg robot according to claim 1, characterized in that the triangular supports (11) adopt an isosceles obtuse triangle structure.
3. The all-terrain biped wheel-leg robot as claimed in claim 1, wherein the support rod (23) has a distance between its top end mounting hole and the wheel-hub motor (24) greater than the distance between the two mounting holes of the first connecting rod (21), and the distance between the two mounting holes of the first connecting rod (21) is greater than the distance between the two mounting holes of the second connecting rod (22).
4. The all terrain bipedal wheel-leg robot as claimed in claim 3, wherein the support bar (23) has a mounting hole provided at a position between the top end and the bottom end thereof to be offset to the side of the top end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121310329.XU CN214985730U (en) | 2021-06-11 | 2021-06-11 | All-terrain biped wheel-leg robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121310329.XU CN214985730U (en) | 2021-06-11 | 2021-06-11 | All-terrain biped wheel-leg robot |
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| Publication Number | Publication Date |
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| CN214985730U true CN214985730U (en) | 2021-12-03 |
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| CN202121310329.XU Active CN214985730U (en) | 2021-06-11 | 2021-06-11 | All-terrain biped wheel-leg robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978567A (en) * | 2021-12-08 | 2022-01-28 | 哈尔滨工业大学 | Large-load double-wheel foot type structure |
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2021
- 2021-06-11 CN CN202121310329.XU patent/CN214985730U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978567A (en) * | 2021-12-08 | 2022-01-28 | 哈尔滨工业大学 | Large-load double-wheel foot type structure |
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