CN103287523A - Composite transformation mobile robot combining elastic foot and wheel type motion mechanism - Google Patents
Composite transformation mobile robot combining elastic foot and wheel type motion mechanism Download PDFInfo
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- CN103287523A CN103287523A CN2013101636772A CN201310163677A CN103287523A CN 103287523 A CN103287523 A CN 103287523A CN 2013101636772 A CN2013101636772 A CN 2013101636772A CN 201310163677 A CN201310163677 A CN 201310163677A CN 103287523 A CN103287523 A CN 103287523A
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Abstract
The invention provides a composite transformation mobile robot combining an elastic foot and a wheel type motion mechanism, which comprises a space machine body frame unit of a foot-wheel composite mobile transformation robot, driving wheel drive units, driven wheel driven units, four modular leg units, a control sensing system unit, a hermetical casing and a power source. The robot used elastic foot replaces the traditional rigid foot to increase the kinetic stability of the robot and reduce the vibratility and impact force of the robot, and is combined with a wheel type moving method, so that the quick mobility and high efficiency of the wheel type movement on a flat ground can be guaranteed, and the excellent maneuverability and strong obstacle crossing function of the foot type moving, creeping and climbing motion under complex terrains such as complex mountain environment and city terrain can be taken into account; as the foot type composite transformation mobile robot adopts modular design, the foot and wheel cannot interfere each other, the maintenance and replacement are convenient, and the motion pattern is flexible and variable; and the athletic ability of the robot is improved in virtue of the mutual transformation, coordination and combination of the foot type motion and the wheel type motion.
Description
Technical field
The present invention relates to the technical field of robot, specifically the sufficient composite deformation mobile robot of being combined with wheeled kinematic mechanism of a kind of elasticity.
Background technology
At present, the walking mechanism of land robot mainly comprises wheeled, crawler type and leg formula, consider the moving velocity of ground travel mechanism, the characteristics such as ability that adapt to the ground type, wheeled, fltting speed and the mobile efficient of crawler type and leg formula mechanism reduce successively, and the manoevreability under the complex-terrain environment and adaptive capacity raise successively.In order to adapt to multiple complex-terrain environment, improve propulsion coefficient, manoevreability and the obstacle climbing ability of robot, the robot of compound multiple travel mechanism is an important trend of Robotics development in recent years.Wherein, the wheeled robot that adapts to the legged type robot of various complicated and have efficient autonomous locomotivity on smooth ground is core and the hot subject of mobile robot's field of research always.
Fast development through over half a century, wheeled mobile robot and legged type robot have all been walked out the laboratory, obtain widespread use in many occasions such as factory, hospital, family, security personnel, rescue, and success is on active service at the moon and Mars, helps the mankind to carry out Science Explorations.Therefore, manoevreability and flexibility advantage that the quick crossing ability advantage that if can be advanced in the wheeled robot level land and legged type robot adapt to complex environment are integrated in one, develop a kind of foot-wheel composite moving mechanism robot, then will greatly expand its applicable area, be expected to be widely used in bear transportation in complicated mountain region environment and the city ground type, investigation, monitoring, multiple-task such as anti-riot, and can develop into and help the disabled and future transportation instrument etc.But foot-wheel composite deformation mobile robot moves aspect such as control policy and has proposed higher technical requirements to composite deformation mechanically moving structure design and composite deformation.
At present, the research that how to organically combine about sufficient formula mechanism and wheeled mechanism both at home and abroad still is in the desk study stage, mainly can be divided into two kinds of thinkings.A kind of is sufficient bottom portion and the rotary joint place that drive wheel is installed on sufficient formula mechanism.For example, a kind of foot that Harbin Institute of Technology proposes-wheeled in conjunction with quadruped robot, the Hylos robot of the sixth-largest design of Paris, FRA all are the volas that the wheel driver train is installed in sufficient formula mechanism.This design plan is in robot carry load traveling process, and the consumption of robot energy is big, has reduced the wheeled moving velocity of robot and the performances such as stability of robot.Another kind is that the elastic leg mechanism that has wheeled function concurrently by a kind of particular design realizes.For example, the artificial a kind of transfer device that can be exchanged into full wheel or half wheel construction of the Quattroped machine of National Taiwan University design, the artificial a kind of no frame wire wheel of the IMPASS machine of Stanford University's design mechanism.Foot is present in the weak separate machine structure of a kind of intensity ratio uniformly with the function realization of wheel, and the load-carrying capacity of robot reduces greatly.On the whole, these two kinds of design concepts make wheel, both functions of foot compromise.It is strong to the invention provides a kind of foot-wheel composite deformation mobile robot load-carrying capacity, in the fitfull terrain environment, adopt sufficient formula traveling mode to pass through efficiently individually, on smooth ground, only adopt the four-wheel rolling mode, improved movability and the stability of robot greatly, and the control difficulty is low.Employing foot in the terrain environment of complexity-take turns compound traveling mode improves performances such as robot climbing obstacle climbing ability.
Summary of the invention
The composite deformation mobile robot who the object of the present invention is to provide a kind of elasticity foot to be combined with wheeled kinematic mechanism, this compound mobile apparatus human elasticity foot replaces traditional rigidity foot, increase the stability of motion of robot, reduce vibratility and the impulsive force of robot, and it is compound with wheeled move mode, can guarantee has wheeled quick travel of advancing and high efficiency on the level land, take into account again under the complex-terrains such as complicated mountain region environment, ground, city type, sufficient formula is advanced, is crawled to creep and climbs mobile good manoevreability and powerful obstacle detouring function.
The objective of the invention is to be achieved through the following technical solutions:
The composite deformation mobile robot that a kind of elasticity foot is combined with wheeled kinematic mechanism, the organism frame unit, space, driving wheel driver element, flower wheel that comprises the compound movement and deformation robot of foot-wheel with moving cell, four modularization leg unit, control sensor-based system unit, seal casinghousing and power supplys.
Organism frame unit, described space is the framework tissue of a space structure, has very strong bending resistance, antitorque and load-carrying capacity.Inside, organism frame unit, space mainly is loaded with control system unit, power supply, PC, sensor unit, seal casinghousing, load.The outside is mainly hanging the driving wheel driver element, and flower wheel is with moving cell and four modularization leg unit.Driving wheel driver element and flower wheel are installed on the left and right sides, organism frame unit, space and both sides, front and back respectively with moving cell, and the wheel drive system structure that assumes diamond in shape is fixedly installed in space organism frame unit bottom.Article four, modularization leg unit is installed on four fixed supports that two ends, body space frame unit are upturned.
Described foot-wheel composite deformation mobile robot's driving wheel driver element, robot left and right sides driving wheel driver element all adopts the servo direct current motor of being furnished with coder to drive, pass torque to driving wheel by one-level spur gear level, gear main shaft and wheel subpanel, generation rotatablely moves.Driving wheel adopts the conventional tyre model, and wheel drive system is by drive block bottom and body space frame unit Bolt Connection.
Described foot-wheel composite deformation mobile robot's flower wheel is formed no drive motor with moving cell by two pairs of universal wheel component before and after the robot.Be installed under the organism frame unit bottom of space.Constitute rhombus configuration shape with the driving wheel drive system.
Described four modularization leg unit are the imitative mammiferous leg structure of four unifications, it is characterized in that, the arrangement of four legs adopts symmetry or configuration in the same way.Every robot leg is by the ball screw actuating device, the joint S. A., and the hip joint support, hip joint orthogonal linkage frame, thigh support frame, the elasticity shank is formed at the bottom of the rubber feet.Do not comprise the ball screw actuating device, then the main frame structure connection of robot leg order is fixedly connected for hip joint support one end and body from top to bottom, the hip joint support other end connects with hip joint orthogonal linkage frame by the rotary joint axle, the hip joint orthogonal linkage support other end connects with thigh support frame by the rotary joint axle, the thigh support frame other end connects with the elasticity shank by the rotary joint axle, and the elasticity shank other end directly connects with the vola.Every leg structure contains three degree of freedom, can realize the robot three-dimensional motion, makes robot have very strong complex-terrain adaptive capacity and obstacle climbing ability.Respectively corresponding rotary joint of each degree of freedom in the robot shank structure, the driving of each rotary joint be by a ball screw actuating device linear movement output independently, changes into by the joint S. A. that rotatablely moving of joint finish.Because therefore the modular design of robot shank, only by adjusting the installation direction of hip joint support and hip joint orthogonal linkage frame, can realize four kinds of configuration modes of four legs to the greatest extent.
Wherein: adopt the ball screw device of driven by servomotor as foot wheel composite deformation mobile robot's type of drive.
The principle of work of ball screw actuating device is that the ball screw actuating device is exported the primary gear speed reducing device that rotatablely moves by the servomotor assembly, single-row angular contact ball bearing positioning supports is all adopted at the big gear wheel two ends in the primary gear speed reducing device, and adopt cylindrical pin and ball screw to be fixedly connected, primary gear speed reducing device transferring rotational motion and moment of rotation are to ball screw, rotatablely moving that the output of ball screw adjutant motor is transmitted transfers feed screw nut's straight-line motion to, and then drives rotatablely moving of joint freedom degrees.
The output shaft of the servomotor assembly of ball screw actuating device connects with the ball screw between centers by the primary gear speed reducing device and connects, and servomotor assembly output shaft cooperates axle head to adopt homonymy configured in parallel scheme with the ball screw location, it is long with the axial length that ball screw directly links to each other to have solved the electric machine assembly output shaft, big problem takes up room, reduce the axial length dimension of ball screw actuating device greatly, and the integrated design plan of the gear housing of ball screw actuating device has guaranteed the right alignment requirement that rotates between casing and the thigh plate, for processing parts brings great convenience.
The parameter type selecting of the ball screw driving device motor assembly at every leg rotary joint place, the parameter of ball wire bar pair is selected and drop-gear box size design aspect adopts modular design plan, and only the spur gear reduction ratio is inequality in the primary gear speed reducing device.
Compound mobile robot adopts the elasticity shank to replace traditional rigidity leg, improves robot to the ground adaptive capacity to environment, and buffering ground shock power reduces the vibration of body, and the springing of robot shank structure is spring, Passive Control unit link.And sufficient bottom portion is wrapped with rubber, increases the friction force partial buffer robot on vola and ground to the impulsive force on ground.
The elasticity shank is by spacing collar, and straight line mobile shell, screw rod, spring, nut are formed.Can produce linear relative movement between spacing collar and the straight line mobile shell, and the spacing collar surface has position-limited trough, employing alignment pin connection straight line mobile shell, but the maximum deformation quantity of restraining spring.Spring is placed in bolt, and bolt one end is connected with shell nut, limits the motion of bolt; The other end is in the shank straight line mobile shell.The pretension amount of compression of spring, namely the spacing between spacing collar and the straight line mobile shell is by the bolt adjustment.When foot end contacted to earth, because robot is subjected to the effect of ground shock power, to moving, its spacing shortened spacing collar along the straight line mobile shell, and extrusion spring shrinks deformation, played buffer action preferably thereby robot is landed the impulsive force of moment.
Described control sensor-based system unit mainly is made up of GPS, gyroscope, laser radar sensor, CAN bus, usb data line, controller, coder, PC.
Advantage of the present invention and good effect are:
1, the foot-wheel composite deformation mobile robot of the present invention's employing, adopt the elasticity foot to replace traditional rigidity foot, increase the stability of motion of robot, reduce vibratility and the impulsive force of robot, adopt wheeled Move Mode on the level land, has the fast speed crossing ability, under complex-terrains such as complicated mountain region environment, ground, city type, adopt sufficient formula traveling mode, powerful obstacle detouring function and landform adaptive capacity have been realized,, adopt under the compound Move Mode of foot-wheel under the landform such as big or step in the gradient, improved the hill climbing ability of robot.
2, the actuator of foot of the present invention-wheel composite deformation mobile robot leg is the ball screw actuating device, and unique mounting means has increased the output torque of actuator, makes shank have very strong load-carrying capacity.Actuator is not directly to install on the rotary joint, avoided the structure of the huge heaviness of rotary joint, wheeled actuating device is installed under the frame, under wheeled mode of motion, both improve stability and the speed of robot rapid movement, made the robot construction compactness again.
3, foot of the present invention-wheel composite deformation mobile robot adopts modular design, does not disturb mutually each other, is convenient to safeguard and change.
4, foot of the present invention-wheel composite deformation moveable robot movement pattern changes flexibly, and the mutual conversion of sufficient formula and wheeled motion and coordinate combination has improved the locomitivity of robot.
Description of drawings
Fig. 1 is the sufficient composite deformation mobile robot's of being combined with wheeled kinematic mechanism of a kind of elasticity of the present invention structure principle chart;
Fig. 2 is the sufficient composite deformation mobile robot's of being combined with wheeled kinematic mechanism of a kind of elasticity of the present invention the single leg constructional drawing of modular design;
Fig. 3 is single leg motion scheme drawing of the sufficient composite deformation mobile robot of being combined with wheeled kinematic mechanism of a kind of elasticity of the present invention;
Fig. 4 is the sufficient composite deformation mobile robot's of being combined with wheeled kinematic mechanism of a kind of elasticity of the present invention joint driver module constructional drawing;
Fig. 5 is the cutaway view of Fig. 4;
Fig. 6 is the sufficient composite deformation mobile robot's of being combined with wheeled kinematic mechanism of a kind of elasticity of the present invention elasticity shank part sectional view;
Fig. 7 is the sufficient composite deformation mobile robot's of being combined with wheeled kinematic mechanism of a kind of elasticity of the present invention driving wheel driver module STRUCTURE DECOMPOSITION scheme drawing;
Fig. 8 is the sufficient composite deformation mobile robot's of being combined with wheeled kinematic mechanism of a kind of elasticity of the present invention sufficient formula walking view;
Fig. 9 is the sufficient composite deformation mobile robot's of being combined with wheeled kinematic mechanism of a kind of elasticity of the present invention wheeled mobile status scheme drawing;
Figure 10 takes turns the composite motion state scheme drawing for the composite deformation mobile robot's that a kind of elasticity foot of the present invention is combined with wheeled kinematic mechanism foot.
Wherein: 1 is seal casinghousing, 2 is the leg module, 3 is the cardan wheel follower, 4 is the driving wheel driver train, 5 is dust guard, 6 is front/rear cover plate, 7 is the space frame body, 8 is the bed hedgehopping platform, 9 is protective cover, 10 is laser radar sensor, 11 is hip joint α S. A., and 12 is hip joint orthogonal linkage frame, and 13 is symmetrical thigh support frame, 14 is knee joint γ driver module, 15 is knee joint γ S. A., and 16 is the vola, and 17 is the shank spacing collar, 18 is shank straight line movable accessory, 19 is shank U-shaped support, and 20 are the location semiaxis, and 21 is hip joint β driver module, 22 is the bolt and nut attaching parts, 23 is hip joint β S. A., and 24 is flange, and 25 is the hip joint support, 26 is hip joint α driver module, 27 is joint driver module motor, and 28 is gear housing, and 29 is lock screw, 30 is the miniature gears ball bearing of main shaft, 31 is gear case cover, and 32 is alignment pin, and 33 is right single-row angular contact ball bearing, 34 is big gear wheel, 35 is left single-row angular contact ball bearing, and 36 is ball screw, and 37 is ball screw nut, 38 is screw connector, 39 is the gear case cover location bearing, and 40 is the screw connector location bearing, and 41 is the driving wheel tie bolt, 42 is driving wheel, 43 is the driving wheel backing plate, and 44 is the driving wheel subpanel, and 45 is the wheel hub coupling nut, 46 is the bogie cover plate, 47 is bogie cover plate attaching screw, and 48 is the motor straight gear, and 49 is the motor tie bolt, 50 is motor straight gear lock screw, 51 is driving wheel driver module motor, and 52 is the axle drive shaft deep groove ball bearing, and 53 is drive shaft, 54 is bogie, 55 is the axle drive shaft straight gear, and 56 is axle drive shaft straight gear lock screw, and 57 is the wheel shaft end cap, 58 is driving wheel subpanel lock screw, 59 is wheel shaft end cap screw, and 60 is spacing bearing pin, and 61 is elasticity shank screw rod, 62 is elasticity shank spring, and 63 is elasticity shank nut.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
As shown in Figure 1, the composite deformation mobile robot that a kind of elasticity foot of the present invention is combined with wheeled kinematic mechanism is specially the foot-wheel composite deformation mobile robot of the compound especially conceptual design of a kind of employing, and it adopts separate complex method at physical construction.In the present embodiment by the leg unit 2 of four modular designs, driven wheel structure unit 3, driving wheel driver module unit 4 is loaded with the polytype sensor, control circuit, the space frame body 7 of PC and power supply, seal casinghousing 1 composition such as grade.Article four, the mounting means of the leg unit of modular design and space frame body 7 all is bolted to connection with space frame body 7 for the hip joint support 25 among Fig. 2, and four legs are that elbow is to elbow mode (knee joint is towards opposite) configuration.Two driving wheel driver modules 4 are bolted to connection the left and right sides on space frame body 7 respectively, two flower wheel modules 3 are bolted to connection the both sides, front and back on space frame body 7 respectively, the bottom of wheel drive system on space frame body 7 structural arrangement that assumes diamond in shape.Robot develops and three kinds of mode of motioies shown in Fig. 8,9,10 in this example, when robot moves in uneven landform, adopt leg pattern walking manner, every leg can be realized three degrees of freedom of movement, the foot working space is big, and it is strong to have the complex-terrain adaptive capacity to environment; When robot during at smooth ground motion, adopt the four-wheel rolling mode, can switch to the four-wheel rolling mode from the leg pattern by conversion gait control robot, realize the robot ability of advancing fast on smooth ground.At some complex-terrain environment, robot adopts sufficient walking mode simultaneously, and wheeled rolling mode is coordinated to go forward side by side, and passes through the complex barrier thing with specific complex method, realizes powerful obstacle climbing ability.
As shown in Figure 2, foot-wheel composite deformation mobile robot's leg unit adopts modular design plan, the hip joint support 25 of robot leg unit is captiveed joint mode when constant with the space frame body, only by the installation direction of conversion hip joint support 25 with hip joint orthogonal linkage frame 12, can form robot leg allocation plan not of the same race.Leg module 2 structures mainly comprise the hip joint support 25 of design symmetry, hip joint α S. A. 11, hip joint α driver module 26, hip joint orthogonal linkage frame 12, symmetrical thigh support frame 13, knee joint γ driver module 14, knee joint γ S. A. 15, vola 16, shank spacing collar 17, shank straight line movable accessory 18, shank U-shaped support 19, location semiaxis 20, hip joint β driver module 21, bolt and nut attaching parts 22,23 of hip joint β rotations, flange 24, hip joint support 25.Leg module 2 contains three active rotation joints and a driven elastic joint in the present embodiment.Each active rotation joint is all driven by a ball screw driver module.Two hip joint support 25 1 ends of design symmetry are captiveed joint with space frame body 7 by six bolts, the other end is bonding by aluminium with a flange 24 respectively, and by one group of bolt and nut attaching parts 22 flange, hip joint support 25, hip joint α S. A. 11 is fixedly connected into parts.These integrated parts and hip joint orthogonal linkage frame 12 two ends are supported the location by a deep groove ball bearing respectively and are realized rotatablely moving of hip joint α.By a location semiaxis 20, the deep groove ball bearing assembly is embedded between the hip joint support 25 respectively in hip joint α driver module 26 gear housings one end both sides.By identical location semiaxis 20, the deep groove ball bearing assembly is embedded between the hip joint orthogonal linkage frame 12 respectively in hip joint α driver module 26 nuts one end both sides.In like manner, the gear housing one end both sides of knee joint γ driver module 14 and hip joint β driver module 21 are embedded between two thigh support frames 13 of design symmetry by location semiaxis 20, a deep groove ball bearing assembly respectively.Two thigh support frame 13 two ends of design symmetry and four flanges 24 are adhesively fixed by aluminium and are connected, and respectively with knee joint γ S. A. 15, hip joint β S. A. 23 is fixedly connected on one by bolt and nut attaching parts 22.These integrated parts two ends respectively with hip joint orthogonal linkage frame 12 1 ends, shank U-shaped support 19 1 ends are realized rotatablely moving of hip joint β and knee joint γ by deep groove ball bearing location.Knee joint γ driver module 14 nuts one end both sides are respectively by one group of location semiaxis 20, the deep groove ball bearing external member is embedded between the shank U-shaped support 19, the nut one end both sides of hip joint β driver module 21 are by one group of location semiaxis 20, and the deep groove ball bearing external member is embedded between hip joint orthogonal linkage frame 12 other ends.The elasticity shank is as driven joint, but energy storage and buffering ground shock power reduce the body vibrations.The little leg device of elasticity as shown in Figure 3, by shank straight line movable accessory 18, leg U-shaped support 19, shank spacing collar 17, spacing bearing pin 59, elasticity shank screw rod 60, elasticity shank spring 61, elasticity shank nut 62 is formed.Shank U-shaped support 19 is captiveed joint by four socket bolt nuts with shank straight line movable accessory 18, elasticity straight line between shank spacing collar 17 and the shank straight line movable accessory 18 moves through spring 61 and is placed in elasticity shank screw rod 60, the screw rod other end and elasticity shank nut 62 assemblies are realized, by adjusting the spacing of screw rod and nut, change the pretension amount of compression of spring, limit the motion of bolt.Be connected the maximum deformation quantity of restraining spring by spacing bearing pin 59 between shank spacing collar 17 and the shank straight line movable accessory 18; When robot is subjected to the ground shock masterpiece time spent, shank spacing collar 17 produces with shank straight line movable accessory 18 and moves relative to straight line, and extrusion spring 61 compressive deformations land the impulsive force of moment to robot and play buffer action preferably.Vola 16 is wrapped with the friction force that rubber coating is used for increasing vola and ground, and plays the partial buffer effect.
As shown in Figure 4 and Figure 5, the principle of work of ball screw driver module 2: export the primary gear speed reducing device that rotatablely moves by joint driver module electric machine assembly 27, big gear wheel 34 two ends adopt right single-row angular contact ball bearing 33 and left single-row angular contact ball bearing 35 to support the location respectively in the primary gear speed reducing device, and captive joint transferring rotational motion and moment with ball screw 36 to ball screw 36 with alignment pin 32, the ball screw adjutant rotatablely moves and transfers the straight-line motion of ball screw nut 37 to, and then drives rotatablely moving of joint.Rotary joint driver module 2 comprises joint driver module electric machine assembly 27, gear housing 28, lock screw 29, miniature gears 30, gear case cover 31, alignment pin 32, right single-row angular contact ball bearing 33, big gear wheel 34, left single-row angular contact ball bearing 35, ball screw 36, ball screw nut 37, screw connector 38, gear case cover location bearing 39, screw connector location bearing 40.Joint driver module motor 27 is DC servo motor, is fixed on the gear housing 28 by screw.Ball screw 36 location cooperate axle head 34 by the right single-row angular contact ball bearing 33 of 7000C type, left single-row angular contact ball bearing 35 supporting location.The single-row angular contact ball bearing 33 in a left side is installed on gear case cover 31, and right single-row angular contact ball bearing 33 is installed on gear housing 28.The aperture that miniature gears is reserved by gear housing 28 makes and locks between lock screw 29 and joint driver module motor 27 output shafts, prevents that it from moving axially.Be fixed on ball screw 36 location fitted shaft end positions with the big gear wheel 34 of miniature gears 30 engaged transmission by alignment pin 32.Gear housing 28 is captiveed joint and sealing by screw with gear case cover 31.The output shaft of drive motor assembly 27 is held row level with both hands by primary gear speed reducing device and ball screw 36 location fitted shaft and is connected and is positioned at the same side, it is long with the axial length that ball screw directly links to each other that this design plan has solved the electric machine assembly output shaft, it is big to take up room, and reduces joint driver module axial length dimension problem greatly.
Be illustrated in figure 6 as the leg exercise scheme drawing, electric machine assembly output rotatablely moves, and realizes the linear reciprocating motion of the work axle head of ball screw, and ball screw work axle head output shaft is to operational forces, drive the rotary joint in the respective leg module, finish rotatablely moving of joint.
Be illustrated in figure 7 as the STRUCTURE DECOMPOSITION scheme drawing of driving wheel driver module, driving wheel driver module motor 51 is DC servo motor, is fixed on the bogie 54 by motor-locking screw 49.Motor straight gear 48 is locked on driving wheel driver module motor 51 output shafts by motor straight gear lock screw 50.Be locked on the drive shaft 53 by two axle drive shaft straight gear lock screw 56 with the axle drive shaft straight gear 55 of motor straight gear 48 engaged transmission, the right-hand member of drive shaft 53 is supported on bogie 54 by deep groove ball bearing 52.The left end of drive shaft 53 is supported in the outstanding bearing mounting hole in bogie 54 left sides by two deep groove ball bearings 52, one of them outside race is fixed by a wheel shaft end cap 57 in its outside, and the inner ring of another one bearing is fixed by the bearing hole shoulder by fixing your outside race of the shaft shoulder on the drive shaft 53.Wheel shaft end cap 57 is captiveed joint by wheel shaft end cap screw 59 with bogie 54.Driving wheel 42 is connected to one driving wheel backing plate 43 and driving wheel subpanel 44 with wheel hub coupling nut 45 by driving wheel tie bolt 41.And with an end transition fit of drive shaft 53, by 58 lockings of driving wheel subpanel lock screw, prevent from moving axially.Bogie cover plate 46 cooperates with the U-shaped inwall of bogie 54, and is fixing with bogie 54 by 6 bogie cover plate attaching screws 47.Bogie 54 is captiveed joint with body by six bolts.
Foot wheel composite deformation mobile robot of the present invention can pass through laser radar sensor, gyroscope, sensors such as GPS are to surrounding environment, the perception of geomorphic feature and detection, add the acquisition of body posture information, select certain mode of motion, can realize that four-wheel in the walking of sufficient formula, level land under the irregular terrain profiles rolls and complex environment under the compound coordination of the foot-wheel three kinds of mode of motioies of advancing.
Sufficient formula walking mode under the irregular terrain profiles: when the compound mobile robot of foot-wheel detects the ground type when being irregular status by laser radar sensor, the sufficient formula walking mode of robot autonomous selection, realize foot-wheel composite deformation mobile robot on irregular ground up walking and function such as leaping over obstacles.By GPS, the acquired information of laser radar, planning department's optimal path, be aided with dissimilar control gaits, triangle gait, diagonal angle gait, comprehensive gaits such as turning gait can realize the feature that the variation on foot-wheel composite deformation mobile robot walking step state conforms.As shown in Figure 8, when foot-wheel composite deformation mobile robot on irregular ground, the static gait propulsion mode of going slowly in can employing figure, namely the stability of three pin holding states of each robot existence is constantly walked at least, robot can guarantee crossing ability and the harmony in the crossing over blockage process, has guaranteed stationarity and the comformability of robot in traveling process again.
Four-wheel rolling mode on the level land: when the compound mobile robot of foot-wheel detects the ground type when being smooth ground by laser radar sensor, four-wheel rolls on the robot autonomous selection level land, realizes that foot-wheel composite deformation mobile robot is in smooth ground quick travel function.By the information that sensor obtains, cook up the optimal path of the wheeled motion of robot.Foot-wheel the composite deformation mobile robot control by specially designed conversion gait, can realize that foot takes turns compound mobile robot and stablize from sufficient formula walking mode and be transformed into wheeled Move Mode in phase.As shown in Figure 9, foot-wheel composite deformation mobile robot state of kinematic motion on smooth ground can guarantee that robot keeps away the stable of barrier, quick travel on smooth ground in real time based on laser radar.
The compound coordination traveling mode of foot-wheel under the complex environment: when the compound mobile robot of foot-wheel runs into complex-terrain, need sufficient formula to walk in wheeled Move Mode and organically combine, realize the powerful complex barrier thing ability of passing through of robot.Be the state of kinematic motion of the compound mobile robot of foot-wheel by lowered zones as Figure 10, because the shank of robot has superior working space, can guarantee that the robot foot end can arrive appointed positions.
The part that the present invention does not elaborate belongs to techniques well known.
Although above the illustrative specific embodiment of the present invention is described; so that the technical personnel of present technique neck is understood the present invention; but should be clear; the invention is not restricted to the scope of the specific embodiment; to those skilled in the art; as long as various variations appended claim limit and the spirit and scope of the present invention determined in, these variations are apparent, all utilize innovation and creation that the present invention conceives all at the row of protection.
Claims (6)
1. the elasticity foot composite deformation mobile robot of being combined with wheeled kinematic mechanism, it is characterized in that, comprise that the organism frame unit, space, driving wheel driver element, flower wheel of the compound movement and deformation robot of foot-wheel are with moving cell, four modularization leg unit, control sensor-based system unit, seal casinghousing and power supplys; Wherein:
Organism frame unit, described space is the framework tissue of a space structure, has very strong bending resistance, antitorque and load-carrying capacity, inside, organism frame unit, space mainly is loaded with the control system unit, power supply, PC, sensor unit, seal casinghousing, load, the outside is mainly hanging the driving wheel driver element, flower wheel is with moving cell and four modularization leg unit, driving wheel driver element and flower wheel are installed on the left and right sides, organism frame unit, space and both sides, front and back respectively with moving cell, and the wheel drive system structure that assumes diamond in shape is fixedly installed in space organism frame unit bottom, and four modularization leg unit are installed on four fixed supports that two ends, body space frame unit are upturned;
Described driving wheel driver element, robot left and right sides driving wheel driver element all adopts the servo direct current motor of being furnished with coder to drive, pass torque to driving wheel by one-level spur gear level, gear main shaft and wheel subpanel, generation rotatablely moves, driving wheel adopts the conventional tyre model, and wheel drive system is by drive block bottom and body space frame unit Bolt Connection;
Described flower wheel is made up of two pairs of universal wheel component before and after the robot with moving cell, and no drive motor is installed under the organism frame unit bottom of space, constitutes rhombus configuration shape with the driving wheel drive system;
Described four modularization leg unit are the imitative mammiferous leg structure of four unifications, article four, the arrangement of leg adopts symmetry or configuration in the same way, every robot leg is by the ball screw actuating device, the joint S. A., the hip joint support, hip joint orthogonal linkage frame, thigh support frame, the elasticity shank, form at the bottom of the rubber feet, do not comprise the ball screw actuating device, then the main frame structure connection of robot leg order is fixedly connected for hip joint support one end and body from top to bottom, the hip joint support other end connects with hip joint orthogonal linkage frame by the rotary joint axle, the hip joint orthogonal linkage support other end connects with thigh support frame by the rotary joint axle, the thigh support frame other end connects with the elasticity shank by the rotary joint axle, the elasticity shank other end directly connects with the vola, every leg structure contains three degree of freedom, can realize the robot three-dimensional motion, make robot have very strong complex-terrain adaptive capacity and obstacle climbing ability, respectively corresponding rotary joint of each degree of freedom in the robot shank structure, the driving of each rotary joint is by a ball screw actuating device linear movement output independently, change into by the joint S. A. that rotatablely moving of joint finish, because robot shank modular design, therefore, only by adjusting the installation direction of hip joint support and hip joint orthogonal linkage frame, can realize four kinds of configuration modes of four legs to the greatest extent.
2. the sufficient composite deformation mobile robot of being combined with wheeled kinematic mechanism of a kind of elasticity according to claim 1 is characterized in that, adopts the ball screw device of driven by servomotor as composite deformation mobile robot's type of drive;
The principle of work of ball screw actuating device is that the ball screw actuating device is exported the primary gear speed reducing device that rotatablely moves by the servomotor assembly, single-row angular contact ball bearing positioning supports is all adopted at the big gear wheel two ends in the primary gear speed reducing device, and adopt cylindrical pin and ball screw to be fixedly connected, primary gear speed reducing device transferring rotational motion and moment of rotation are to ball screw, rotatablely moving that the output of ball screw adjutant motor is transmitted transfers feed screw nut's straight-line motion to, and then drives rotatablely moving of joint freedom degrees.
3. a kind of elasticity foot according to claim 2 composite deformation mobile robot of being combined with wheeled kinematic mechanism, it is characterized in that, the ball screw actuating device at every leg rotary joint place, the parameter type selecting of electric machine assembly, the parameter of ball wire bar pair is selected and drop-gear box size design aspect adopts modular design plan, and only the spur gear reduction ratio is inequality in the primary gear speed reducing device.
4. a kind of elasticity foot according to claim 1 composite deformation mobile robot of being combined with wheeled kinematic mechanism, it is characterized in that, compound mobile robot adopts the elasticity shank to replace traditional rigidity leg, improve robot to the ground adaptive capacity to environment, buffering ground shock power, reduce the vibration of body, the springing of robot shank structure is spring, Passive Control unit link, and sufficient bottom portion is wrapped with rubber, increases the friction force partial buffer robot on vola and ground to the impulsive force on ground.
5. a kind of elasticity foot according to claim 4 composite deformation mobile robot of being combined with wheeled kinematic mechanism, it is characterized in that, the elasticity shank is by spacing collar, straight line mobile shell, screw rod, spring, nut are formed, can produce linear relative movement between spacing collar and the straight line mobile shell, and the spacing collar surface has position-limited trough, adopt alignment pin to connect the straight line mobile shell, but the maximum deformation quantity of restraining spring, spring is placed in bolt, and bolt one end is connected with shell nut, limits the motion of bolt; The other end is in the shank straight line mobile shell, the pretension amount of compression of spring, be that spacing between spacing collar and the straight line mobile shell is by the bolt adjustment, when the foot end contacts to earth, because robot is subjected to the effect of ground shock power, to moving, its spacing shortens spacing collar along the straight line mobile shell, extrusion spring shrinks deformation, plays buffer action preferably thereby robot is landed the impulsive force of moment.
6. according to the sufficient composite deformation mobile robot of being combined with wheeled kinematic mechanism of the described a kind of elasticity of each claim of claim 1 to 5, it is characterized in that, described control sensor-based system unit mainly is made up of GPS, gyroscope, laser radar sensor, CAN bus, usb data line, controller, coder, PC.
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