CN217146196U - Wheel-leg type multi-degree-of-freedom leg structure for robot under metamorphic principle - Google Patents
Wheel-leg type multi-degree-of-freedom leg structure for robot under metamorphic principle Download PDFInfo
- Publication number
- CN217146196U CN217146196U CN202221251171.8U CN202221251171U CN217146196U CN 217146196 U CN217146196 U CN 217146196U CN 202221251171 U CN202221251171 U CN 202221251171U CN 217146196 U CN217146196 U CN 217146196U
- Authority
- CN
- China
- Prior art keywords
- joint
- knee joint
- wheel
- hip joint
- steering engine
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
The utility model discloses a wheel leg formula multi freedom shank structure for robot under metamorphic principle, including hip joint, knee joint, the sufficient joint that from the top down set gradually, the hip joint includes hip joint steering wheel and hip joint support, and the knee joint includes knee joint steering wheel and knee joint support, and sufficient joint includes sufficient joint steering wheel and sufficient joint support, the hip joint support is including the first U-shaped frame of connecting the hip joint steering wheel and the second U-shaped frame of connecting the knee joint steering wheel, and second U-shaped frame one side outer wall is equipped with a wheeled subassembly. The utility model discloses improve hip joint support, the direction of rotation that makes hip joint steering wheel and knee joint steering wheel is perpendicular to make the shank structure more nimble, add wheeled subassembly, it is fast to advance than traditional pure sufficient formula robot, sets up serial bus steering wheel control hip joint, knee joint, sufficient joint and rotates, realizes the walking of multi-joint multi freedom striding, has promoted the trafficability characteristic of robot when moving on rugged environment, non-structural road surface.
Description
Technical Field
The utility model relates to a shank structure of robot especially relates to a wheel leg formula multi freedom shank structure that is used for robot under metamorphic principle.
Background
72 hours after the disaster occurs is the gold rescue time, but due to the influence of the unstructured environment of the disaster site, the rescue workers are difficult to work quickly, efficiently and safely, and the rescue task gradually exceeds the capability range of the rescue workers, so that the rescue robot becomes an important development direction and is used for replacing partial manual rescue.
However, various search and rescue robots mostly exist on a complicated and rugged disaster search and rescue site at the present stage: the obstacle crossing capability of the robot is weak, the size is large, the robot is not suitable for searching and rescuing trapped people in a narrow space in ruins after disasters, and the actual rescue effect is influenced. Therefore, a robot structure which can be applied to a narrow space and a rugged and complex environment is needed, and the problems of poor trafficability, low moving speed and the like are solved.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a solve above-mentioned problem, be applied to robot under the metamorphic principle, solve the robot and cross the obstacle ability weak, bulky, unsuitable search and rescue stranded personnel scheduling problem in the narrow and small space of ruins behind the calamity, a wheel leg formula multi freedom leg structure for robot under the metamorphic principle.
In order to achieve the above purpose, the utility model adopts the technical scheme that: a wheel-leg type multi-degree-of-freedom leg structure for a robot under a metamorphic principle comprises a hip joint, a knee joint and a foot joint which are sequentially arranged from top to bottom, wherein the hip joint comprises a hip joint steering engine and a hip joint support;
the two opposite sides of the rectangular plate are bent upwards and extend to form a first U-shaped frame with an upward opening, the hip joint steering engine is positioned between the first U-shaped frames, and two ends of the hip joint steering engine are rotatably connected with the first U-shaped frame;
the other two opposite sides of the rectangular plate are bent downwards and extend to form a second U-shaped frame with a downward opening, the knee joint steering engine is positioned between the second U-shaped frames, and two ends of the knee joint steering engine are rotatably connected with the second U-shaped frame;
a wheel type assembly is arranged on the outer wall of one side of the second U-shaped frame and comprises a motor support, a motor and a roller, the motor is mounted on the second U-shaped frame through the motor support, a rotating shaft of the motor is perpendicular to the second U-shaped frame, and the rotating shaft is connected with the roller and drives the roller to rotate;
the knee joint supports are fixedly connected with the knee joint steering engines, the foot joint steering engines are positioned between the knee joint supports, two ends of each foot joint steering engine are rotatably connected with two opposite sides of the knee joint supports, and the foot joint supports are fixedly connected with the foot joint steering engines.
Preferably, the method comprises the following steps: the roller is a Mecanum wheel, and the motor is a stepping motor.
Preferably, the method comprises the following steps: the hip joint steering engine, the knee joint steering engine and the foot joint steering engine are connected with an upper computer through a serial bus and are controlled by the upper computer through the serial bus.
Compared with the prior art, the utility model has the advantages of:
the hip joint support is improved and is divided into a first U-shaped frame connected with a hip joint steering engine and a second U-shaped frame connected with a knee joint steering engine, so that the rotation directions of the hip joint steering engine and the knee joint steering engine are mutually perpendicular, the leg structure is more flexible, the hip joint steering engine can rotate to drive each leg structure to complete multi-directional rotation, and the motion range and the motion reliability of the leg structure are improved.
Add wheeled subassembly, adopt step motor control gyro wheel rotatory, it is fast than traditional pure sufficient formula robot marching speed, the gyro wheel adopts mecanum wheel, can realize the action of arbitrary direction translation while rotation, makes its complicated steering operation under the adaptation narrow environment, guarantees the flexibility, when adopting the gyro wheel walking, only need through each joint of steering engine control not with ground contact can.
The serial bus steering engine is arranged to control the hip joint, the knee joint and the foot joint to rotate, multi-joint multi-degree-of-freedom striding walking is achieved, and the passing performance of the robot in motion in a rugged environment and on a non-structural road surface is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of another aspect of the present invention;
fig. 3 is a schematic view of fig. 1 rotated 90 degrees.
In the figure: 1. a hip joint steering engine; 2. a first U-shaped frame; 3. a second U-shaped frame; 4. a knee joint steering engine; 5. a knee joint brace; 6. a foot joint steering engine; 7. a foot joint support; 8. a motor bracket; 9. a roller; 10. an electric motor.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
Example 1: referring to fig. 1 and 3, the wheel-leg-type multi-degree-of-freedom leg structure for the robot under the metamorphic principle comprises a hip joint, a knee joint and a foot joint which are sequentially arranged from top to bottom, wherein the hip joint comprises a hip joint steering engine 1 and a hip joint support, the knee joint comprises a knee joint steering engine 4 and a knee joint support 5, the foot joint comprises a foot joint steering engine 6 and a foot joint support 7, and the hip joint support comprises a horizontal rectangular plate;
the two opposite sides of the rectangular plate are bent upwards and extend to form a first U-shaped frame 2 with an upward opening, the hip joint steering engine 1 is positioned between the first U-shaped frames 2, and two ends of the hip joint steering engine are rotatably connected with the first U-shaped frames 2;
the other two opposite sides of the rectangular plate are bent downwards and extend to form a second U-shaped frame 3 with a downward opening, the knee joint steering engine 4 is positioned between the second U-shaped frames 3, and two ends of the knee joint steering engine are rotatably connected with the second U-shaped frames 3;
a wheel type assembly is arranged on the outer wall of one side of the second U-shaped frame 3 and comprises a motor support 8, a motor 10 and a roller 9, the motor 10 is mounted on the second U-shaped frame 3 through the motor support 8, a rotating shaft of the motor 10 is perpendicular to the second U-shaped frame 3, and the rotating shaft is connected with the roller 9 and drives the roller to rotate;
the knee joint supports 5 are fixedly connected with the knee joint steering engines 4, the foot joint steering engines 6 are located between the knee joint supports 5, two ends of each foot joint steering engine are rotatably connected with two opposite sides of the knee joint supports 5, and the foot joint supports 7 are fixedly connected with the foot joint steering engines 6.
In this embodiment, the roller 9 is a mecanum wheel, and the motor 10 is a stepping motor 10; the hip joint steering engine 1, the knee joint steering engine 4 and the foot joint steering engine 6 are connected with an upper computer through serial buses and are controlled by the upper computer through the serial buses.
The utility model discloses can be according to actual need, install a plurality ofly on the robot, predetermine and install 4 in this embodiment. During the installation, the utility model discloses can vertical installation, can horizontal installation for can be according to the in-service use scene, select the mounting means, in this embodiment, give a horizontal installation's example, see fig. 3, will the utility model discloses the level is placed, makes gyro wheel 9 and ground contact, and hip joint steering wheel 1 can be connected through the connecting plate, perhaps directly with robot health part, and when hip joint steering wheel 1 was rotatory, hip joint steering wheel 1 drove the whole back and forth swing of back level subassembly and realizes the operation of striding, and its motion mode is similar with insect shank motion. In addition, the knee joint steering engine 4 and the foot joint steering engine 6 can rotate 360 degrees at the rotating shafts.
The utility model discloses a theory of operation does:
controlling the hip joint steering engine 1 to realize the back-and-forth swing and striding advancing operation of the back-stage part of the hip joint steering engine 1; controlling the knee joint steering engine 4 to realize the upward and downward pressing action of the rear-stage part of the knee joint steering engine 4; the foot joint steering engine 6 is controlled to realize the opening and the adduction of the foot joint support 7, and the walking action of the utility model is completed through the cooperation of hip joints, knee joints and foot joints according to different environment terrains.
The specific walking logic is as follows: firstly, a knee joint steering engine 4 rotates, a foot joint is driven to lift up through a knee joint support 5, then a hip joint steering engine 1 rotates to drive the hip joint support to rotate, the front and back directions of a leg type structure are moved when walking in a striding mode, then the posture of a proper foot joint support 7 is judged according to the ground condition, the foot joint support 7 is adjusted to the most proper posture through the rotation of the foot joint steering engine 6, then the knee joint steering engine 4 is controlled to rotate, the foot joint is driven to press down through the knee joint support 5, and the single leg advancing action of leg lifting, stepping and leg pressing is achieved.
The operation logic for the wheel type traveling mode under the structural pavement is as follows: control hip joint steering wheel 1 is rotatory to relevant position, arranges the vertical direction of advancing direction in with gyro wheel 9 pivot direction, and then simultaneous control knee joint steering wheel 4, sufficient joint steering wheel 6 are rotatory, will the utility model discloses wholly upwards receive, only regard as the support with gyro wheel 9, constitute wheeled drive robot, realize wheeled quick advancing, simultaneously, gyro wheel 9 adopts mecanum wheel, and the robot can realize the nimble action that turns to in narrow space through controlling the 10 rotational speeds of motor on the different legs.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (3)
1. The utility model provides a wheel leg formula multi freedom shank structure for metamorphic robot down, includes hip joint, knee joint, the sufficient joint that from the top down set gradually, the hip joint includes hip joint steering wheel and hip joint support, the knee joint include knee joint steering wheel and knee joint support the sufficient joint includes sufficient joint steering wheel and sufficient joint support, its characterized in that: the hip joint support comprises a horizontal rectangular plate;
the two opposite sides of the rectangular plate are bent upwards and extend to form a first U-shaped frame with an upward opening, the hip joint steering engine is positioned between the first U-shaped frames, and two ends of the hip joint steering engine are rotatably connected with the first U-shaped frame;
the other two opposite sides of the rectangular plate are bent downwards and extend to form a second U-shaped frame with a downward opening, the knee joint steering engine is positioned between the second U-shaped frames, and the two ends of the knee joint steering engine are rotatably connected with the second U-shaped frame;
a wheel type assembly is arranged on the outer wall of one side of the second U-shaped frame and comprises a motor support, a motor and a roller, the motor is mounted on the second U-shaped frame through the motor support, a rotating shaft of the motor is perpendicular to the second U-shaped frame, and the rotating shaft is connected with the roller and drives the roller to rotate;
the knee joint supports are fixedly connected with the knee joint steering engines, the foot joint steering engines are positioned between the knee joint supports, two ends of each foot joint steering engine are rotatably connected with two opposite sides of the knee joint supports, and the foot joint supports are fixedly connected with the foot joint steering engines.
2. The wheel-legged multi-degree-of-freedom leg structure for a robot under the metamorphic principle according to claim 1, wherein: the roller is a Mecanum wheel, and the motor is a stepping motor.
3. The wheel-legged multi-degree-of-freedom leg structure for a robot under the metamorphic principle according to claim 1, wherein: the hip joint steering engine, the knee joint steering engine and the foot joint steering engine are connected with an upper computer through a serial bus and are controlled by the upper computer through the serial bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221251171.8U CN217146196U (en) | 2022-05-24 | 2022-05-24 | Wheel-leg type multi-degree-of-freedom leg structure for robot under metamorphic principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221251171.8U CN217146196U (en) | 2022-05-24 | 2022-05-24 | Wheel-leg type multi-degree-of-freedom leg structure for robot under metamorphic principle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217146196U true CN217146196U (en) | 2022-08-09 |
Family
ID=82668686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221251171.8U Active CN217146196U (en) | 2022-05-24 | 2022-05-24 | Wheel-leg type multi-degree-of-freedom leg structure for robot under metamorphic principle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217146196U (en) |
-
2022
- 2022-05-24 CN CN202221251171.8U patent/CN217146196U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201343082Y (en) | Running mechanism of four-legged walking robot | |
| CN205459437U (en) | Electronic wheelchair of intelligence rehabilitation training | |
| CN102849140B (en) | Multi-moving-mode bionic moving robot | |
| CN105329335B (en) | A kind of six wheel robot chassis and robot | |
| CN107901052A (en) | A kind of water feeding machine device people | |
| CN109129392A (en) | A kind of cross-country obstacle removing robot | |
| CN209107158U (en) | A kind of spider-shaped glass-cleaning robot | |
| CN111038610B (en) | Bionic obstacle-crossing wall-climbing robot | |
| CN112373594A (en) | Wheel-leg hybrid drive type mining metamorphic robot | |
| CN217146196U (en) | Wheel-leg type multi-degree-of-freedom leg structure for robot under metamorphic principle | |
| CN207088875U (en) | Lu Hang robots and amphibious robot | |
| CN105619375B (en) | A kind of multifunctional rescue robot and its application method | |
| CN211844683U (en) | Bionic robot | |
| CN113492932A (en) | Spine type bionic quadruped robot oriented to non-structural environment and operation method | |
| WO2018035746A1 (en) | Triangular crawler wheel robot | |
| CN218986800U (en) | Self-stabilizing omnidirectional mobile robot and mobile device | |
| CN209757305U (en) | Crawler-type stair climbing robot | |
| CN206925845U (en) | A kind of service robot of centre of gravity, high kinetic stability | |
| CN110126937A (en) | Bionical quadruped robot and gait control method | |
| CN206953012U (en) | Bio-robot | |
| CN214614002U (en) | Novel building engineering is with repairing slope machinery device | |
| CN109367641B (en) | Eight-foot crawling robot | |
| WO2018035745A1 (en) | Triangular crawler wheel robot | |
| CN219361204U (en) | 8-foot motion platform | |
| CN112807643A (en) | Alternate up-down rock climbing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |