CN105539626B - A kind of leg-wheel robot leg structure that can be dual-purpose - Google Patents
A kind of leg-wheel robot leg structure that can be dual-purpose Download PDFInfo
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- CN105539626B CN105539626B CN201510977426.7A CN201510977426A CN105539626B CN 105539626 B CN105539626 B CN 105539626B CN 201510977426 A CN201510977426 A CN 201510977426A CN 105539626 B CN105539626 B CN 105539626B
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- leg
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of leg-wheel robot leg structure that can be dual-purpose, the structure includes road wheel, power supplying apparatus, support frame.The present invention robot leg structure can work as eccentric wheel leg use, also can work as wheel use, can also both be used in combination, which kind of pattern can be selected according to different landform.More suitable for the walking of the complicated landform such as earth's surface such as rubble, meadow, sand ground, obstacle climbing ability is strong, can be easily across the barrier of slightly below fuselage height for the more traditional wheel of eccentric wheel and multi-foot robot；The violent concussion that wheel more saves energy compared to eccentric wheel and eccentric wheel treads can be avoided in the walking of smooth hard earth's surface, ensures the stability and speed of walking, combines both, realize and continually and steadily worked in smooth hard earth's surface and complicated landform.
Description
Technical field
The present invention relates to the robot leg structure of multi-foot robot, be specifically related to semicircular legs formula robot leg structure,
Wheeled robot wheel construction.
Background technology
Common robot leg structure mainly has wheeled and two kinds of multiple degrees of freedom foot formula, and wheeled robot has structure
Simply, movement velocity is fast, efficiency high, it is easily controllable the advantages of, but the ground that wheeled robot can pass through must be
Continuously, many ground can be discrete discrete, and multiple degrees of freedom legged type robot by region but under natural environment
Can be by discrete discrete rugged ground for planning of the ground environment to falling foot point, but plan foothold at it
While also reduce the speed of travel of robot, for the higher occasion of rate request, it is clear that multiple degrees of freedom foot formula machine
People does not apply to.In order to strengthen the ability that robot adapts to various environment, many new robot leg structures are suggested, most allusion quotation
The example of type is a new of roboticist's design at Canadian McGill University's intelligence machine center in 1999, is had
The robot " Rhex " of six semicircle legs, is firstly introduced the concept of semicircle leg, and the structure not only possesses as wheeled leg
With simple in construction, movement velocity is fast, efficiency high, it is easily controllable the advantages of, and most of nature can be passed through
Discrete discrete landform.
By analysis above, semicircle legged mobile robot is such as broken in complicated landform compared with other legged mobile robots
The walking of the earth's surfaces such as stone, meadow, sand ground is more advantageous, but is shaken when smooth hard earth's surface is walked, not as wheeled robot
Walking is convenient, and based on this, the present invention proposes a kind of leg-wheel robot leg structure that can be dual-purpose, reference picture 1, when power provides dress
When putting 2 brake, now road wheel 1 rotates by axle center of robot power output shaft, forms one with robot power output shaft 6
For the eccentric wheel in axle center, the rotation of eccentric wheel has promoted the motion of robot；Supported when robot power output shaft brake
Frame 3 is fixed relative to robot, and power supplying apparatus 2 are that road wheel 1 provides power, and robot at this moment passes through road wheel 1
Rotate and move.By switching the mode of operation of robot leg, it is continual and steady to may be implemented in smooth hard earth's surface and complicated landform
Work, make full use of semicircular legs formula and it is wheeled the advantages of, learn from other's strong points to offset one's weaknesses each other, reach optimum state during robot ambulation.
The content of the invention
Pin of the present invention proposes a kind of leg-wheel robot leg structure that can be dual-purpose, it is therefore an objective to which providing one kind can be in smooth hard
The robot leg structure that earth's surface and complicated landform continually and steadily work.
The technical solution adopted by the present invention, reference picture 1, a kind of leg-wheel robot leg structure that can be dual-purpose, its feature exist
In the structure includes road wheel 1, power supplying apparatus 2, support frame 3；Road wheel 1 is by power supplying apparatus output shaft 4 with moving
Power provides device 2 and connected；Power supplying apparatus output shaft 4 is arranged on one end of power supplying apparatus 2；Power supplying apparatus 2 with
Support frame 3 connects.
The road wheel 1 is driven operating or brake by power supplying apparatus 2；The upper end of support frame as described above 3 connects machine
Device people power output shaft 6, operated or braked by driving.
Described power supplying apparatus 2 are made up of motor, gear-box, encoder, and motor, gear-box, encoder connect successively
Tap into action edge output.
Beneficial effects of the present invention are as follows：
It is that be may be implemented in smooth hard earth's surface and complicated landform and the mode of operation taken by switching robot leg
Smooth hard earth's surface and complicated landform continually and steadily work, make full use of semicircular legs formula and it is wheeled the advantages of, take long benefit each other
It is short, reach optimum state during robot ambulation.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of leg-wheel robot leg structure that can be dual-purpose.
Fig. 2 is a kind of explosive view of leg-wheel robot leg structure that can be dual-purpose.
Fig. 3 is schematic diagram when Hexapod Robot is adapted to complicated landform walking.
Fig. 4 is the schematic diagram that Hexapod Robot is adapted to smooth hard earth's surface to advance.
In figure：1st, road wheel, 2, power supplying apparatus, 3, support frame, 4, power supplying apparatus output shaft, 5, six sufficient machines
Human agent, 6, robot power output shaft.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
As shown in figure 1, a kind of leg-wheel robot leg structure that can be dual-purpose, it is characterised in that including road wheel 1, power
Device 2, support frame 3 are provided, wherein：Road wheel 1, the output axis connection with described power supplying apparatus 2；Power supplying apparatus
2, it is connected with described support frame 3.
Described road wheel 1 drives operating or brake, the described upper end of support frame 3 connection machine by power supplying apparatus 2
The power output shaft of device people, it can be operated or braked by driving.
In order to become apparent from understanding the present invention with image, by taking Hexapod Robot as an example, robot is applied to both of which
Illustrate, reference picture 3 and Fig. 4：
Reference picture 3, for Hexapod Robot when complicated landform is walked, power supplying apparatus 2 carry out brake control, road wheel 1
It is that axle center is rotated with robot power output shaft 6, forms an eccentric wheel with robot power output shaft 6 for axle center,
The rotation of eccentric wheel has promoted the motion of robot；Reference picture 4, when the brake of robot power output shaft 6 be support frame 3 relative to
Robot body 5 fixes, and power supplying apparatus 2 are that road wheel 1 provides power, now robot being rotated into by road wheel 1
Row motion.By switching the mode of operation of robot leg, realize and continually and steadily worked in smooth hard earth's surface and complicated landform, filled
Point using semicircular legs formula and it is wheeled the advantages of, learn from other's strong points to offset one's weaknesses each other, reach optimum state during robot ambulation.
It is finally bright to be：Above example is merely to illustrate the present invention and not limits technology described in the invention
Scheme, thus although this specification has been carried out being described in detail with reference to above-described embodiment, still, the ordinary skill of this area
Personnel should be appreciated that and still the present invention can be modified or equivalent substitution, and all do not depart from spirit and scope
Technical scheme and its improvement, it all should cover among scope of the presently claimed invention.
Claims (1)
- A kind of 1. leg-wheel robot leg structure that can be dual-purpose, it is characterised in that：The structure includes road wheel (1), power provides Device (2), support frame (3)；Road wheel (1) is connected by power supplying apparatus output shaft (4) with power supplying apparatus (2)；It is dynamic Power provides one end that device output shaft (4) is arranged on power supplying apparatus (2)；Power supplying apparatus (2) connect with support frame (3) Connect；The road wheel (1) is driven operating or brake by power supplying apparatus (2)；Support frame as described above (3) upper end connects Robot power output shaft (6), operated or braked by driving；Described power supplying apparatus (2) are made up of motor, gear-box, encoder, and motor, gear-box, encoder are sequentially connected Carry out power output；For Hexapod Robot when complicated landform is walked, power supplying apparatus (2) carry out brake control, and road wheel (1) is with robot Power output shaft (6) is that axle center is rotated, and forms one with the eccentric wheel that robot power output shaft (6) is axle center, eccentric The rotation of wheel has promoted the motion of robot；When robot power output shaft (6) brake is support frame (3) relative to robot master Body (5) is fixed, and power supplying apparatus (2) are that road wheel (1) provides power, now robot being rotated into by road wheel (1) Row motion；By switching the mode of operation of robot leg, realize and continually and steadily worked in smooth hard earth's surface and complicated landform, filled Point using semicircular legs formula and it is wheeled the advantages of, learn from other's strong points to offset one's weaknesses each other, reach optimum state during robot ambulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510977426.7A CN105539626B (en) | 2015-12-23 | 2015-12-23 | A kind of leg-wheel robot leg structure that can be dual-purpose |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510977426.7A CN105539626B (en) | 2015-12-23 | 2015-12-23 | A kind of leg-wheel robot leg structure that can be dual-purpose |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105539626A CN105539626A (en) | 2016-05-04 |
| CN105539626B true CN105539626B (en) | 2017-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510977426.7A Active CN105539626B (en) | 2015-12-23 | 2015-12-23 | A kind of leg-wheel robot leg structure that can be dual-purpose |
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| CN (1) | CN105539626B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109778610B (en) * | 2019-01-25 | 2023-09-22 | 中国铁建高新装备股份有限公司 | Railway maintenance machinery running frame and corresponding running method and tamping machine |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101439736B (en) * | 2007-11-21 | 2012-05-23 | 中国科学院沈阳自动化研究所 | All-terrain moving robot |
| TWI370796B (en) * | 2009-10-29 | 2012-08-21 | Univ Nat Taiwan | Leg-wheel hybrid mobile platform |
| CN103241303A (en) * | 2013-05-13 | 2013-08-14 | 东南大学 | Wheel leg type mobile robot with flexible trunk |
| CN203974997U (en) * | 2014-08-14 | 2014-12-03 | 中煤科工集团重庆研究院有限公司 | Mining intrinsic safety detection robot based on eccentric wheel and leg type combination |
| CN104773226B (en) * | 2015-04-20 | 2017-03-08 | 哈尔滨工业大学 | The sufficient change type mobile-robot system of wheel |
| CN105035204A (en) * | 2015-08-11 | 2015-11-11 | 哈尔滨工业大学 | Wheel-leg combined type intelligent mobile robot |
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| CN105539626A (en) | 2016-05-04 |
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