CN104210571A - Wheeled leg walking device with independent walking and cross-country functions - Google Patents
Wheeled leg walking device with independent walking and cross-country functions Download PDFInfo
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- CN104210571A CN104210571A CN201410457834.5A CN201410457834A CN104210571A CN 104210571 A CN104210571 A CN 104210571A CN 201410457834 A CN201410457834 A CN 201410457834A CN 104210571 A CN104210571 A CN 104210571A
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Abstract
The invention discloses a wheeled leg walking device with independent walking and cross-country functions. The wheeled leg walking device comprises a power control assembly for use in walking control and power output, a plurality of leg root assemblies uniformly surrounding the periphery of the power control assembly, a foot sole assembly which is connected with the leg root assembly through a shaft and is used for supporting during walking, a steering control mechanism which is connected between the power control assembly and the foot sole assembly and is used for controlling turning, as well as an air bag and an air pump which are connected to the power control assembly through a rotary bearing and are used for providing buoyancy force for the wheeled leg walking device walking in water, wherein under the action of the buoyancy force generated after inflation of the air bag, the power control assembly floats over the liquid surface. By adopting the wheeled leg walking device, the cross-country capability of a walking mechanism is enhanced greatly; meanwhile, the complexity of the mechanism is lowered. The wheeled leg walking device can be used separately, and can be taken as a walking unit of a motion platform. The wheeled leg walking device has the advantages of high transmission efficiency, stability in running and high speed, and can be applied to the fields of disaster relief, exploration, military affairs and the like.
Description
Technical field
The present invention relates to a kind of running gear, particularly relate to a kind of wheeled leg running gear with independent ambulation and cross-country function.
Background technology
In recent years, along with the development of intellectually and automatically technical merit, the robot kind that the mankind can be replaced to be engaged in various high-risk operation gets more and more, they both can accept mankind commander, the program of layout in advance can be run again, also can according to the principle guiding principle action of formulating with artificial intelligence technology.Its task is assisted or replaces the work completed by the mankind traditionally, such as manufacture, building industry, or the work of danger.
Along with making rapid progress of technology, the increasing extent of robot application is extensive, although the software and hardware technology of robot has obtained very large progress all in many aspects all, but the machine-walking structure of robot but remains one of maximum technical barrier, attract research and the innovation of various countries scientific research personnel.
At present, the traveling gear of robot is designed to the stepping mechanism of wheeled, crawler type or the biological walking of simulation as required respectively, wherein wheeled comparatively ripe with crawler type walking mechanism, it has the advantages such as driving efficiency is high, speed is fast, but be difficult to adapt to landform complicated and changeable, especially combating a natural disaster, the field such as exploration, there is very large application limitation.
The stepping mechanism of the biological walking of simulation is the product walking manners such as Reptilia being carried out mechanization design, such as, and single-power leg mechanism four feet walking robot disclosed in China Patent No. ZL201410211307.6; The traveling gear of walking robot disclosed in Chinese Patent Application No. 201320271178.0.Although this kind of stepping mechanism can adapt to complicated landform, its driving efficiency is very low, robot ambulation speed is comparatively slow, controls difficulty large, and itself structure is also comparatively complicated.
In order to improve driving efficiency and the speed of travel of bionic walking mechanical, the feature that people also combine running on wheels and bionic leg carries out a large amount of innovations to traveling gear, such as, bionical six take turns leg and entirely drive a kind of motor-driven robot of height with quick travel and jump performance disclosed in traveling gear and US Patent No. 7249640 disclosed in Chinese patent ZL201310108663.0; Above-mentioned technology all has the feature of wheeled leg; Their total constructional features are, a walking unit is formed by a rotating shaft and several bionic legs be connected in rotating shaft, whole traveling gear is formed again by several such walking unit, it realizes moving by the rotation of bionic leg along rotating shaft, realizes the mobile of whole traveling gear turn by the rotating speed of cooperation control each walking unit.Therefore the traveling gear structure of combinations thereof formula is comparatively complicated, and Servo Control difficulty is large, and its bionic leg is strip, little with contact area of ground, and walking stability is poor; And single wheeled leg cannot realize turning, and can not realize independent walking.
No matter current traveling gear is could realize the movements such as pulsation-free walking, turning after wheeled, crawler type or bionical stepping or wheeled leg mechanism all need several walking unit assembly, more walking unit can make robot architecture more complicated undoubtedly, also mean higher fault rate and maintenance difficulties, this pole is unfavorable for the application and development of Robotics.
Summary of the invention
The object of this invention is to provide a kind of wheeled leg running gear with independent ambulation and cross-country function being mainly used in robot ambulation, it has, and landform comformability is good, structure is simple, driving efficiency is high and fireballing advantage.
The present invention is achieved like this, a kind of wheeled leg running gear with independent ambulation and cross-country function, it is characterized in that, it comprise for the power control assembly of travelling control and Power output, uniform ring around several leg root assemblies of power control assembly periphery be connected with leg root assembly axle for supporting the sole assembly of walking and being connected between power control assembly and sole assembly for controlling the course changing control mechanism turned.
Described wheeled leg running gear also comprises and is connected to paddle the air bag and air pump providing buoyancy for wheeled leg running gear on power control assembly by swivel bearing, and the buoyancy after described airbag aeration makes power control assembly float on more than liquid level.
The periphery of described power control assembly is evenly placed with several protruding fixture blocks, and groove inlay card is passed through on protruding fixture block in one end of described leg root assembly, and is fixed by catch and screw.
Described sole assembly comprises the first sole blade and the second sole blade, described first sole blade is connected with one end that leg root assembly deviates from power control assembly by rotating swivel bearing with one end of the second sole blade, the other end of the first sole blade and the second sole blade is the arcuate structure can fitted with ground, and the one side that described first sole blade and the second sole blade and earth surface are fitted is for having the friction face of roughness.
Described course changing control mechanism comprises two pull bars and is slidably connected at the slide block on power control assembly, one end of described two pull bars is all connected on slide block by ball and socket, and the other end is connected with the second sole blade one end near leg root assembly with the first sole blade respectively.
Described power control assembly is cylinder body structure, described power control assembly comprises position single chip microcomputer circuit board in the inner, servomotor, battery and speed reducing gear pair, described servomotor drives the outer wall of power control assembly to rotate by speed reducing gear pair under the control of single chip microcomputer circuit board, and power control assembly outer wall drives leg root assembly and sole assembly to rotate walking.
Preferably: described speed reducing gear pair comprises the first speed reducing gear pair and the second speed reducing gear pair, wherein, the first speed reducing gear pair be connected with servo motor output shaft is transmitting ratio is 3-5 retarder doubly, second speed reducing gear pair comprises and the first speed reducing gear pair gears in mesh and the annular tooth be positioned on power control assembly inwall with this gears meshing, and the transmitting ratio of described second speed reducing gear pair is 5 to 8 times.
Preferably: described leg root assembly is tieed up by aluminum alloy or carbon pricker and made, and described leg root assembly is also evenly placed with several lightening holes.
Preferably: the arcuate structure of described first sole blade and the second sole blade is also evenly placed with several lightening holes, and the first sole blade and the second sole blade all adopt synthetic elastic material to make.
Preferably: the number of sole assembly is even number, is respectively 4,6 or 12.
Beneficial effect of the present invention is: the design that the present invention is innovated in the configuration aspects of leg, thus the cross country power drastically increasing traveling gear, again reduce the complexity of mechanism simultaneously.Namely the present invention can be used alone, also the walking unit as a motion platform capable of being combined.The fields such as driving efficiency of the present invention is high, operate steadily and fast advantage, and possesses extremely strong cross country power, can in the disaster relief, exploration, military.
Accompanying drawing explanation
Fig. 1 is the isometric view of structure of the present invention.
Fig. 2 is the front view of structure of the present invention.
Fig. 3 is the lateral plan of structure of the present invention.
Fig. 4 be power control assembly of the present invention inner structure schematic diagram.
Structure graph when Fig. 5 is straight line moving of the present invention.
Fig. 6 is the structure graph that the present invention turns when walking.
Fig. 7 is the centre of gration position consecutive variations schematic diagram under turn condition of the present invention.
Fig. 8 is the structural front view of the present invention when paddling.
Fig. 9 is the structure side view of the present invention when paddling.
In the drawings, 1, lightening hole 2, leg root assembly 3, sole assembly 4, power control assembly 5, protruding fixture block 6, course changing control mechanism 7, rotate swivel bearing 8, single chip microcomputer circuit board 9, servomotor 10, battery 11, speed reducing gear pair 12, air bag 13, air pump 14, swivel bearing.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the present invention is achieved like this, it comprise for the power control assembly 4 of travelling control and Power output, uniform ring around several leg root assemblies 2 of power control assembly 4 periphery be connected with leg root assembly 2 axle for supporting the sole assembly 3 of walking and being connected between power control assembly 4 and sole assembly 3 for controlling the course changing control mechanism 6 turned.Wherein, the number of sole assembly 3 is even number, preferably 4,6 or 12 sole assemblies 3, and along with increasing of sole assembly 3, the stationarity of this mechanism kinematic is better.
Described wheeled leg running gear also comprises and is connected to paddle the air bag 12 and air pump 13 providing buoyancy for wheeled leg running gear on power control assembly 4 by swivel bearing 14, described air bag 12 inflate after buoyancy make power control assembly 4 float on more than liquid level.Due to the connection function of swivel bearing 14, after air bag 12 is inflated, air bag 12 and air pump 13 together do not rotate with main body.Air bag 12 profile can be and anyly ensures that mechanism is at underwater exercise pulsation-free streamline contour; The shape and size of air bag 12 are to ensure that main body is held out the water surface to be as the criterion.
The periphery of described power control assembly 4 is evenly placed with several protruding fixture blocks 5, these protruding fixture blocks 5 are installed along power control assembly 4 outside face every 30 degree of angles, groove inlay card is passed through on protruding fixture block 5 in one end of described leg root assembly 2, and fixed by catch and screw, because leg root assembly 2 and power control assembly 4 are that detouchable is connected, this is beneficial to running gear increases according to landform or reduces leg root assembly 2; Best driving efficiency and the speed of travel is obtained to make running gear.
Described sole assembly 3 comprises the first sole blade 31 and the second sole blade 32, described first sole blade 31 is connected with one end that leg root assembly 2 deviates from power control assembly 4 by rotating swivel bearing 7 with one end of the second sole blade 32, and the first sole blade 31 and the second sole blade 32 can have the independent revolution space of 30 degree around rotation swivel bearing 7; The other end of the first sole blade 31 and the second sole blade 32 is the arcuate structure can fitted with ground, it is a thin curved surface, and this curved surface has certain elasticity, good damping effect can be played when walking, and can be used in striking when device is paddled.The one side that described first sole blade (31) and the second sole blade (32) and earth surface are fitted for having the friction face of roughness, friction force over the ground during to increase walking.
The slide block 62 that described course changing control mechanism 6 comprises two pull bars 61 and is slidably connected on power control assembly 4, one end of described two pull bars 61 is all connected on slide block 62 by ball and socket, and the other end is connected with the second sole blade 32 one end near leg root assembly 2 with the first sole blade 31 respectively.Utilize horizontally slipping of slide block 62, two pull bars 61 are stretched, control the first sole blade 31 and the second sole blade 32 along the rotational angle rotating swivel bearing 7 by two pull bars 61, the first sole blade 31 of non-parallel state and the second sole blade 32 will produce the moment of turning and needing when walking; Specific works principle is as follows:
As shown in Figure 5, a. when the midway location of slide block 62 chute in power control assembly 4, the corner of the first sole blade 31 leg root assembly 2 relative to the second sole blade 32 is identical, and blade earth point is identical to the radius of rotation of assembly centre of gration, so this wheeled leg is in craspedodrome transition;
As shown in Figure 6, b. is when slide block 62 slides to the left, and left side sole blade is pushed forward direction and rotates, and this blade earth point reduces to the radius of rotation of assembly centre of gration, as shown in Figure 7; Meanwhile, right side sole blade is pulled and rotates in the reverse direction, and this blade earth point increases to the radius of rotation of assembly centre of gration.Radius of rotation due to right side is greater than left side, and when cireular frequency is identical, the linear velocity in the tangent to periphery direction in left side is less, thus namely the sense of motion of traveling gear is offset to the left.In like manner, when slide block 62 slides to the right, right side sole blade is pushed forward direction and rotates, and left side sole blade is pulled and rotates in the reverse direction, and the radius of rotation in left side is greater than right side, this traveling gear right-hand turning to.
Described power control assembly 4 is cylinder body structure, described power control assembly 4 comprises position single chip microcomputer circuit board 8 in the inner, servomotor 9, battery 10 and speed reducing gear pair 11, described servomotor 9 drives the outer wall of power control assembly 4 to rotate by speed reducing gear pair 11 under the control of single chip microcomputer circuit board 8, and power control assembly 4 outer wall drives leg root assembly 2 and sole assembly 3 to rotate walking.
For realizing big retarding than transmission in limited space, have employed double reduction design.Namely described speed reducing gear pair 11 comprises the first speed reducing gear pair 111 and the second speed reducing gear pair 112, wherein, the first speed reducing gear pair 111 be connected with servo motor output shaft 9 is transmitting ratios is 3-5 retarder doubly, second speed reducing gear pair 112 comprises and the first speed reducing gear pair gears in mesh and the annular tooth be positioned on power control assembly 4 inwall with this gears meshing, and the transmitting ratio of described second speed reducing gear pair is 5 to 8 times.
Described leg root assembly 2 is made up of light-weight high-strength materials such as aluminum alloy or carbon pricker dimensions, under the prerequisite not affecting intensity, leg root assembly 2 is also evenly placed with several lightening holes 1, this can reduce the weight of heel part further, more can reduce air resistance during heel High Rotation Speed, to improve the high speed performance of wheeled leg.
The arcuate structure of described first sole blade 31 and the second sole blade 32 is also evenly placed with several lightening holes 1; First sole blade 31 and the second sole blade 32 all adopt synthetic elastic material to make.
Principle of work of the present invention is such.
The present invention can independently walk, and its control is as follows: the electric energy that control and battery based on single chip microcomputer circuit board 8 provide, and controls according to different landform.User needs the road surface of walking to install leg root assembly 2 and the sole assembly 3 of Rational number according to running gear, when needing to carry out cross-country on the road surface of complexity, can install four leg root assemblies 2, to increase the ability of leaping over obstacles, as shown in Figure 1; When flat road surface, the leg root assembly 2 of nearly 12 can be installed, to improve high-speed smooth; Single chip microcomputer circuit board 8 controls the rotating speed of servomotor 9, servomotor 9 drives speed reducing gear pair 11 to rotate, thus driving power control assembly 4 outer wall to rotate by speed reducing gear pair 11, the leg root assembly 2 being connected to power control assembly 4 outer wall drives sole assembly 3 to rotate along power control assembly 4 axle together; Turning to of whole device is controlled by rotating swivel bearing 7 by single chip microcomputer circuit board 8.When running gear needs to paddle, single chip microcomputer circuit board 8 controls air pump 13 and inflates to air bag 12; Under device after water, provide buoyancy by air bag 12, to be struck advance by sole assembly 3; As shown in Figure 8 and Figure 9.
The all right Combination application of the present invention, is combined by several the present invention and forms a travelling platform that can bear a heavy burden, can not only adapt to various complex-terrain, can also be that goods and materials are transported in hazardous location, very be applicable to rescue and relief work, the occasions such as exploration; Its principle of work, as the process of its independent ambulation, also can arrange central controller, makes it be connected with multiple single chip microcomputer circuit board 8 of the present invention, is controlled by coordination linkage, realizes more complicated operation and controls.
Owing to possessing complete power and control system in each wheeled leg unit, impart the ability that each wheeled leg unit possesses independent ambulation, its modular design can meet the combination walking needs simultaneously using multiple wheeled leg, and each leg unit can realize independent completely control.One aspect of the present invention possess quick, the transmission of running on wheels efficient, safeguard cheap advantage, on the other hand also there is the adaptable advantage of bionic walking mechanism landform.
The present invention has outstanding creativeness and technological merit compared with existing traveling gear; Specific as follows:
1, stability is high.The contact surface on this traveling gear and ground be one wider rectangular, than large more than 5 times of the contact surface on general pedipulator and ground.This distinctive contact surface makes the stability of mechanism greatly improve.Thus a wheeled leg unit can be walked separately, this greatly simplify the design of mechanism, is specially adapted to the exploitation of small-sized walking robot.
2, good cross-country ability.This novel leg except possessing the strong advantage of the common obstacle climbing ability of pedipulator, because it uses elastomeric material manufacture, so itself namely possess the function of the impact of hitch buffering uneven ground, so separately buffer gear can not be added.
3, steering swivel system is simple.Each sole assembly is made up of two panels blade, by regulating the angle of this two panels blade and heel assembly, can realize turning to.This is the most innovative part in this wheeled leg design.This design prevents complicated steering gear.
4, possess and floating cross ability.Air bag and inflation pump can be carried additionally in the both sides of power control assembly 4.When after airbag aeration, can bubble through the water column, because each sole possesses the profile of paddle naturally, this mechanism can advance in water.
Claims (9)
1. one kind has the wheeled leg running gear of independent ambulation and cross-country function, it is characterized in that, it comprise for the power control assembly (4) of travelling control and Power output, uniform ring around power control assembly (4) periphery several leg root assemblies (2), be connected with leg root assembly (2) axle for supporting the sole assembly (3) of walking and being connected between power control assembly (4) and sole assembly (3) for controlling the course changing control mechanism (6) turned.
2. there is the wheeled leg running gear of independent ambulation and cross-country function as claimed in claim 1, it is characterized in that, described wheeled leg running gear also comprises and is connected to paddle the air bag (12) and air pump (13) providing buoyancy for wheeled leg running gear on power control assembly (4) by swivel bearing (14), and the buoyancy after described air bag (12) inflation makes power control assembly (4) float on more than liquid level.
3. there is the wheeled leg running gear of independent ambulation and cross-country function as claimed in claim 1 or 2, it is characterized in that, the periphery of described power control assembly (4) is evenly placed with several protruding fixture blocks (5), groove inlay card is passed through on protruding fixture block (5) in one end of described leg root assembly (2), and is fixed by catch and screw.
4. there is the wheeled leg running gear of independent ambulation and cross-country function as claimed in claim 1 or 2, it is characterized in that, described sole assembly (3) comprises the first sole blade (31) and the second sole blade (32), described first sole blade (31) is connected with one end that leg root assembly (2) deviates from power control assembly (4) by rotating swivel bearing (7) with one end of the second sole blade (32), the other end of the first sole blade (31) and the second sole blade (32) is the arcuate structure can fitted with ground, the one side that described first sole blade (31) and the second sole blade (32) and earth surface are fitted is for having the friction face of roughness.
5. there is the wheeled leg running gear of independent ambulation and cross-country function as claimed in claim 1 or 2, it is characterized in that, the slide block (62) that described course changing control mechanism (6) comprises two pull bars (61) and is slidably connected on power control assembly (4), one end of described two pull bars (61) is all connected on slide block (62) by ball and socket, and the other end is connected with the second sole blade (32) one end near leg root assembly (2) with the first sole blade (31) respectively.
6. there is the wheeled leg running gear of independent ambulation and cross-country function as claimed in claim 1 or 2, it is characterized in that, described power control assembly (4) is cylinder body structure, described power control assembly (4) comprises position single chip microcomputer circuit board in the inner (8), servomotor (9), battery (10) and speed reducing gear pair (11), described servomotor (9) drives the outer wall of power control assembly (4) to rotate by speed reducing gear pair (11) under the control of single chip microcomputer circuit board (8), power control assembly (4) outer wall drives leg root assembly (2) and sole assembly (3) to rotate walking.
7. there is the wheeled leg running gear of independent ambulation and cross-country function as claimed in claim 6, it is characterized in that, described speed reducing gear pair (11) comprises the first speed reducing gear pair (111) and the second speed reducing gear pair (112), wherein, the first speed reducing gear pair (111) be connected with servo motor output shaft (9) is transmitting ratio is 3-5 retarder doubly, second speed reducing gear pair (112) comprises and the first speed reducing gear pair gears in mesh and the annular tooth be positioned on power control assembly (4) inwall with this gears meshing, the transmitting ratio of described second speed reducing gear pair is 5 to 8 times.
8. there is the wheeled leg running gear of independent ambulation and cross-country function as claimed in claim 1, it is characterized in that, described leg root assembly (2) is tieed up by aluminum alloy or carbon pricker and is made, and described leg root assembly (2) is also evenly placed with air resistance when several lightening holes (1) rotate with expendable weight and reduction.
9. there is the wheeled leg running gear of independent ambulation and cross-country function as claimed in claim 4, it is characterized in that, the arcuate structure of described first sole blade (31) and the second sole blade (32) is also evenly placed with several lightening holes (1), and the first sole blade (31) and the second sole blade (32) all adopt synthetic elastic material to make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410457834.5A CN104210571B (en) | 2014-09-10 | 2014-09-10 | A kind of wheeled lower limb running gear with independent ambulation and cross-country function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410457834.5A CN104210571B (en) | 2014-09-10 | 2014-09-10 | A kind of wheeled lower limb running gear with independent ambulation and cross-country function |
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| CN104210571A true CN104210571A (en) | 2014-12-17 |
| CN104210571B CN104210571B (en) | 2016-10-12 |
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| CN201410457834.5A Expired - Fee Related CN104210571B (en) | 2014-09-10 | 2014-09-10 | A kind of wheeled lower limb running gear with independent ambulation and cross-country function |
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| CN108516029A (en) * | 2018-04-02 | 2018-09-11 | 上海交通大学 | Autonomous rolling soft robot based on dielectric elastomer |
| CN109878592A (en) * | 2019-04-15 | 2019-06-14 | 北京建筑大学 | A kind of compound running gear of wheel leg |
| CN111232084A (en) * | 2020-03-02 | 2020-06-05 | 广东博智林机器人有限公司 | Multi-foot walking robot |
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| CN104210571B (en) | 2016-10-12 |
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