CN106080828A - A kind of wheel biped robot - Google Patents
A kind of wheel biped robot Download PDFInfo
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- CN106080828A CN106080828A CN201610498220.0A CN201610498220A CN106080828A CN 106080828 A CN106080828 A CN 106080828A CN 201610498220 A CN201610498220 A CN 201610498220A CN 106080828 A CN106080828 A CN 106080828A
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- wheel
- lower limb
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- riser
- controller
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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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Abstract
The present invention relates to technical field of automatic control, specifically a kind of wheel biped robot, it is characterised in that: the fixing device being located in wheel；Described fixing device is provided with slide opening vertically upward；It is provided with the wheel drive unit of follower belt gear；Foot driving means；It is additionally provided with position sensor in described sufficient driving means；It is provided with the controller of wireless signal transceiver module；Battery；Described fixing device is located in wheel, and fixing device is rotatably connected along the inwall taken turns；Described wheel drive unit, sufficient driving means, controller, battery are respectively provided at the different parts of fixing device；The follower belt gear of described wheel drive unit and the gear teeth meshing of wheel；The top of described lower limb is slidably connected with slide opening, and midleg connects with foot driving unit shaft.The present invention compared with the existing technology, combines wheeled and sufficient formula dexterously, adapts to most of road environment；And wheel reduces the probability of rollover with sufficient combination, and accelerate the speed of traveling.
Description
Technical field
The present invention relates to technical field of automatic control, specifically a kind of wheel biped robot.
Background technology
Existing sufficient class or running on wheels mechanism, have its limitation.
Wheeled robot is more suitable for smooth road surface, particularly road, and energy high-speed mobile, but easily skids, unstable,
And it is helpless to complicated landform.Double legged mobile robots are almost adapted to various complicated landform, it is possible to leaping over obstacles, shortcoming is
Gait of march is relatively low, and owing to center of gravity reason is easily turned on one's side, unstable.
Summary of the invention
It is an object of the invention to overcome prior art not enough, design a kind of device taken turns and can simultaneously move completely so that it is suitable
Ying Xinggeng is wide, and speed is faster.
For achieving the above object, design one wheel biped robot, it is characterised in that:
Including circular wheel；The uniform gear teeth on the medial wall of described wheel or on inwall；
The lower limb of two bottom axle pin palms；
The fixing device being located in wheel；Described fixing device is provided with slide opening vertically upward；
It is provided with the wheel drive unit of follower belt gear；
Foot driving means；It is additionally provided with position sensor in described sufficient driving means；
It is provided with the controller of wireless signal transceiver module；
Battery；
Described fixing device is located in wheel, and fixing device is rotatably connected along the inwall taken turns；
Described wheel drive unit, sufficient driving means, controller, battery are respectively provided at the different parts of fixing device；
The follower belt gear of described wheel drive unit and the gear teeth meshing of wheel；
The top of described lower limb is slidably connected with slide opening, and midleg connects with foot driving unit shaft；
The power interface of described controller is connected with battery path, and the first via signal end fifth wheel of controller drives dress
The signal end put, the second road signal end of controller connects the signal input part of foot driving means, the signal input part of controller
The signal output part of link position sensor；The signal input part of the signal output part link position sensor of foot driving means；
The wireless signal transceiver module of controller is used for and remote controller wireless telecommunications；
When using wheel to run, controller controls the lower limb of foot driving means and rotates, and moves upward along slide opening simultaneously, then controls
Ratch driving means is carried out driving wheel and is rotated；
When using foot motion, controller controls foot driving means driving leg and rotates, and drives foot same rotate
Time also move up and down in the linear position up and down that slide opening limits, when foot is lifted away from ground, then wheel lands, until foot is again
Ground, circulation realizes the advance of biped successively.
Described wheel is provided with left and right two, is driven by a wheel drive unit respectively；Described lower limb is provided with left and right two,
Driven by foot driving means respectively.
Described wheel drive unit is for including follower belt gear, motor pulley, turbin generator；Described follower belt tooth
Wheel includes using the one side at rotating disk to be installed with the follower belt gear teeth being uniformly distributed along the circumference, and is provided with on the annular outer wall of rotating disk
The belt grooves being embedded belt is constituted；Described motor belt wheel shaft is connected on the output shaft of turbin generator, motor pulley with
Follower belt gear uses belt to connect；The centerline axis parallel of the output shaft of turbin generator is axial in wheel；
When the gear teeth are uniform along the medial wall taken turns, the described gear teeth are set to cylindric, the central axis of the described gear teeth and wheel
Axially in parallel, the described gear teeth engage with the follower belt gear teeth of follower belt gear side；
When the gear teeth are located at the inwall of wheel, the radius of the tooth crest of the follower belt gear teeth of described follower belt gear is big
In the radius of the annular outer wall of rotating disk, the gear teeth of the inwall of wheel fall with the follower belt gear teeth and engage.
Described fixing device includes base, support；It is respectively equipped with wheel bearing seat at the corner of the bottom surface of described base；
The front left side of the bottom surface of base and right lateral side are respectively equipped with perpendicular plate, and described perpendicular plate lays respectively at before and after corresponding side two
Between wheel bearing seat, and set lower limb motor axis hole respectively on two perpendicular plates, in the middle of base, be additionally provided with battery case；Described support bag
Including centre and be provided with the base plate of battery hole, the left and right sides of base plate is respectively perpendicular layout riser, the lateral surface of riser be respectively perpendicular to
It is provided with escape groove；The top of riser is provided with wheel bearing axis hole；The lateral surface of riser be sticked outside riser, outside described slide opening is located at
On the riser of side and corresponding by groove with wall；The bottom of described support is fixed on above base, and the battery case of base and support
Battery hole corresponding；
The bottom of described battery is embedded in battery case, and the top of battery is positioned in two risers after battery hole
Between；Described battery uses the power interface of line connecting controller.
The inwall of described wheel is provided with inside and outside two wheel bearing grooves；
The inner side over glaze on the top of described riser connects follower belt gear；The lateral surface upper shaft on the nearly top of described riser
Connect wheel bearing；The axle place of connecing that described upper whorl axial holds with riser meets place higher than the axle of follower belt gear with riser, and driven
The end face of belt gear is higher than the end face of riser；
The outer end of each wheel bearing seat of base is respectively adopted connecting shaft axle and connects a lower wheel bearing；
In the wheel bearing groove in the outside that two lower wheel bearings of corresponding side are embedded the wheel in corresponding side, the upper whorl axial of corresponding side
Realize fixing device in holding the wheel bearing groove of the inner side being embedded the wheel in corresponding side to be rotatably connected along the inwall taken turns；
Turbin generator and controller set up separately before and after support on the base of side.
Described sufficient driving means includes lower limb motor, lower limb motor gear, lower limb gear, lower limb gear arm, described lower limb gear
Side is fixed on the medial surface of one end of lower limb gear arm；The outside over glaze of the other end of lower limb gear arm connects midleg；Lower limb motor
The medial surface of gear sets deep gouge；The output shaft of described lower limb motor is through the lower limb motor axis hole on the perpendicular plate of the base of corresponding side
Rear axle acting flange dish, the card of ring flange is embedded in the deep gouge of lower limb motor gear and fixed thereto, described lower limb motor gear
Engagement lower limb gear；
Described position sensor is fixed on the riser of outside, and the shell of position sensor connects the one of sensor transverse axis
End, the central axis of described sensor transverse axis is axially in parallel with wheel；The other end axle of sensor transverse axis connects sensor arm
One end, the other end of sensor arm sets mounting hole, and one end axle of a lower limb transverse axis connects the top inner side face of lower limb, the other end of lower limb transverse axis
Fixing a securing member after sequentially passing through the slide opening of mounting hole, outside riser, securing member is embedded in the escape groove of riser.
It is provided with rear cross beam between the trailing flank of two described risers, between the leading flank of two risers, is provided with front beam,
And in the middle of front beam, it is provided with the breach passed for belt；Corresponding position between the front beam and rear cross beam of breach both sides is respectively
It is provided with the arc notch board agreeing with follower belt gear；
The lateral surface on the top of described riser is provided with and agrees with the circular groove that upper whorl axial holds.
It is respectively equipped with louvre on base below corresponding turbin generator and below corresponding controller.
The turbin generator set casing being provided with concavity groove in the middle of one bottom surface is located at the top of two turbin generators in left and right, and will
Two turbin generator constraints are fixed between groove and base, are provided with for skin in the middle of the upper inner face of described turbin generator set casing
Band through dodge hole.
The lower forks of described lower limb becomes former and later two branch's lower limbs, each point of leg shaft to connect a lower limb palm.
The present invention compared with the existing technology, combines wheeled and sufficient formula dexterously, has evaded the deficiency of they locomotory mechanisms,
Learn from other's strong points to offset one's weaknesses, switch specific motion mode in specific environment so that it is locomotory mechanism has higher efficiency and by property, adapts to
Most of road environments；And wheel reduces the probability of rollover with sufficient combination, and accelerate the speed of traveling.
Accompanying drawing explanation
Fig. 1 is the perspective view in the embodiment of the present invention.
Fig. 2 is the perspective view at another kind of visual angle in the embodiment of the present invention, turbin generator set casing not shown in figure.
Fig. 3 is the exploded view at visual angle shown in Fig. 2.
Fig. 4 is the electric theory diagram in the present invention in embodiment.
See Fig. 1～Fig. 3,1, sole；2, lower limb；2-1, lower limb transverse axis；2-2, lower limb transverse axis bearing；3, upper whorl axial holds；3-1, under
Wheel bearing；4, controller；5, sensor arm；6, position sensor；6-1, sensor transverse axis；6-2, sensor fixation plate；7, outer
Side riser；7-1, slide opening；8, follower belt gear；8-1, wheel perforation；9, wheel；10, the gear teeth；11, belt；12, battery；13, wheel
Motor；13-1, turbin generator set casing；13-2, dodge hole；14, motor pulley；15, lower limb motor；15-1, ring flange；16, lower limb
Motor gear；17, lower limb gear；18, lower limb gear arm；19, wheel bearing groove；20, support；20-1, escape groove；20-2, breach；20-
3, battery hole；20-4, base plate；20-5, wheel bearing axis hole；20-6, follower belt gear shaft holes；20-7, arc notch board；20-8、
Circular groove；21, base；21-1, lower limb motor axis hole；21-2, wheel bearing seat；21-3, battery case；21-4, louvre.
Detailed description of the invention
The present invention is further illustrated below in conjunction with the accompanying drawings, and the present invention still compares for those skilled in the art
Clearly.
See Fig. 1～Fig. 4, one of the present invention wheel biped robot, it is characterised in that: include circular wheel 9；Described wheel
Medial wall on the uniform gear teeth 10；The lower limb 2 of two bottom axle pin palms 1；It is located at the fixing device in wheel 9；Described fixing dress
Put and be provided with slide opening 7-1 vertically upward；It is provided with the wheel drive unit of follower belt gear 8；Foot driving means；Described foot drives
Position sensor 6 it is additionally provided with on device；It is provided with the controller of wireless signal transceiver module；Battery 12；
Described fixing device is located in wheel 9, and fixing device is rotatably connected along the inwall taking turns 9；
Described wheel drive unit, sufficient driving means, controller, battery are respectively provided at the different parts of fixing device；Institute
The follower belt gear 8 of the wheel drive unit stated engages with the gear teeth 10 of wheel 9；Slide even with slide opening 7-1 in the top of described lower limb 2
Connecing, the middle part of lower limb 2 connects with foot driving unit shaft；
The power interface of described controller is connected with battery 12 path, and the first via signal end of controller 4 connects wheel driving
The signal end of dynamic device, the second road signal end of controller 4 connects the signal input part of foot driving means, the signal of controller 4
The signal output part of input link position sensor 6；The signal of the signal output part link position sensor 6 of foot driving means
Input, the wireless signal transceiver module of controller is used for and remote controller wireless telecommunications；
When using wheel 9 operation, controller controls the lower limb of foot driving means and rotates, and moves upward along slide opening 7-1, so simultaneously
Rear control wheel driving means is carried out driving wheel 9 and is rotated.
Further, described fixing device includes base 21, support 20；The corner punishment of the bottom surface of described base 21
It is not provided with wheel bearing seat 21-2；The front left side of the bottom surface of base 21 and right lateral side are respectively equipped with perpendicular plate, and described perpendicular plate divides
Not before and after corresponding side between two wheel bearing seat 21-2, and on two perpendicular plates, set lower limb motor axis hole 21-1 respectively, the end
It is additionally provided with battery case 21-3 in the middle of seat 21；Described support 20 includes that centre is provided with the base plate 20-4 of battery hole 20-3, base plate 20-
The left and right sides of 4 is respectively perpendicular layout riser, and the lateral surface of riser is respectively perpendicular to being provided with escape groove 20-1；The top of riser sets
There is wheel bearing axis hole 20-5；The lateral surface of riser be sticked outside riser 7, described slide opening 7-1 be located at outside riser 7 on and and wall
Make groove 20-1 corresponding；The bottom of described support 20 is fixed on above base 21, and the battery case 21-3 of base and support 20
Battery hole 20-3 corresponding；The bottom of described battery 12 is embedded in battery case 21-3, and the top of battery 12 passes battery
It is positioned at after the 20-3 of hole in the middle of two risers；Described battery uses the power interface of line connecting controller.
The inwall of described wheel 9 is provided with inside and outside two wheel bearing grooves 19；The inner side over glaze on the top of described riser connect from
Dynamic belt gear 8；The lateral surface upper shaft on the nearly top of described riser connects wheel bearing 3；Described upper whorl axial holds the axle of 3 and riser
The place of connecing meets place higher than the axle of follower belt gear 8 with riser, and the end face of follower belt gear 8 is higher than the end face of riser；Base
The outer end of each wheel bearing seat 21-2 of 21 is respectively adopted connecting shaft axle and meets a lower wheel bearing 3-1；Two lower whorls of corresponding side
Bearing 3-1 is embedded in the wheel bearing groove 19 in the outside of the wheel 9 of corresponding side, and the upper whorl axial of corresponding side holds 3 and is embedded in corresponding side
Realize fixing device in the wheel bearing groove 19 of the inner side of wheel 9 to be rotatably connected along the inwall taking turns 9；Turbin generator 13 and controller 4 points
It is located at before and after support 20 on the base 21 of side.
Further, described sufficient driving means includes lower limb motor 15, lower limb motor gear 16, lower limb gear 17, lower limb gear arm
18, the side of described lower limb gear 17 is fixed on the medial surface of one end of lower limb gear arm 18；Outside the other end of lower limb gear arm 18
Side axle connects the middle part of lower limb 2；The medial surface of lower limb motor gear 16 sets deep gouge；The output shaft of described lower limb motor 15 passes corresponding side
Base 21 perpendicular plate on lower limb motor axis hole 21-1 rear axle acting flange dish 15-1, the card of ring flange 15-1 be embedded lower limb electricity
The deep gouge of machine gear 16 is interior and fixed thereto, and described lower limb motor gear 16 engages lower limb gear 17；
Described position sensor 6 is fixed on the riser 7 of outside, and the shell of position sensor 6 connects sensor transverse axis
One end of 6-1, the central axis of described sensor transverse axis 6-1 is axially in parallel with wheel；The other end axle of sensor transverse axis 6-1
Connecing one end of sensor arm 5, the other end of sensor arm 5 sets mounting hole, and one end axle of a lower limb transverse axis 2-1 connects in the top of lower limb 2
Side, the other end of lower limb transverse axis 2-1 fixes a securing member, securing member after sequentially passing through the slide opening 7-1 of mounting hole, outside riser 7
It is embedded in escape groove 20-1 of riser.
Further, described wheel drive unit is for including follower belt gear 8, motor pulley 14, turbin generator 13；Institute
The follower belt gear 8 stated includes using the one side at rotating disk to be installed with the follower belt gear teeth being uniformly distributed along the circumference, at rotating disk
Annular outer wall be provided with and be embedded the belt grooves of belt 11 and constituted, this example turntable is one-body molded with the follower belt gear teeth；
Described motor pulley 14 axle is connected on the output shaft of turbin generator 13, and motor pulley 14 and follower belt gear 8 use skin
Band 11 connection；The centerline axis parallel of the output shaft of turbin generator 13 is axial in wheel 9；
When in this example, the gear teeth 10 are located at the inwall of wheel, the gear teeth avoid two wheel bearing grooves 19, described follower belt gear 8
The radius of tooth crest of the follower belt gear teeth more than the radius of annular outer wall of rotating disk, the gear teeth 10 and the driven skin of the inwall of wheel
Pulley teeth falls engagement；This structure comparison is suitable for being provided with the situation of a wheel 9.
In this example use one wheel 9, wheel face set wider with keeps balance, then take turns 9 be respectively provided on two sides with one
Lower limb 2, when using wheel drive walking when, lower limb lifts to top, and it drives driven skin by the wheel drive unit in fixing device
Band gear 8 rotates, then drives the gear teeth 10 being engaged with to rotate, owing to fixing device rotates along the interior wall energy of wheel 9, by adjusting
The mode of centre-of gravity shift makes wheel 9 produce motion, it is achieved the advance of wheel 9 or setback.
When using foot motion, controller controls foot driving means driving leg and rotates, and drives foot same rotate
Time also slide opening 7-1 limit linear position up and down in move up and down, when foot is lifted away from ground, then wheel land, until foot is again
Secondary landing, circulation realizes the advance of both legs successively.
When using foot as motion when, both legs motion equidirectional, synchronized is for advancing or retreating, both legs one positive
The synchronized motion of opposite direction is rotation, is to catch both legs by the position sensor on each foot for ensureing the synchronized motion of both legs
Altitude information, then control the direction of rotation of lower limb motor 15 by altitude information and size realize synchronizing.When both legs move
Time liftoff, wheel 9 landing, realize again landing of both legs, circulation realizes the advance of both legs successively.
Embodiment 2
Seeing Fig. 1～4, this example is the further improvement on the basis of embodiment 1, and described wheel is provided with left and right two, respectively
Driven by a wheel drive unit；Described lower limb is provided with left and right two, is driven by foot driving means respectively, and two legs is respectively
It is positioned at the outside of corresponding wheel.
In this example, the gear teeth 10 are uniform along the medial wall of wheel, and the described gear teeth 10 are set to cylindric, the center of the described gear teeth 10
Axis is axially in parallel with wheel, and the described gear teeth 10 engage with the follower belt gear teeth of follower belt gear 8 side；This structure
Relatively it is suitable for being provided with the design of two-wheeled.
Further, it is provided with rear cross beam between the trailing flank of two described risers, sets between the leading flank of two risers
Have in the middle of front beam, and front beam and be provided with the breach 20-2 passed for belt；Front beam in breach 20-2 both sides and rear horizontal stroke
Corresponding position between beam is respectively equipped with the arc notch board 20-7 agreeing with follower belt gear 8；The outside on the top of described riser
Face is provided with agrees with upper whorl axial and holds the circular groove 20-8 of 3.
Further, the base 21 below corresponding turbin generator 13 and below corresponding controller is respectively equipped with louvre
21-4。
Further, the turbin generator set casing 13-1 being provided with concavity groove in the middle of a bottom surface is located at two, left and right wheel electricity
The top of machine 13, and two turbin generator 13 constraints are fixed between groove and base 21, described turbin generator set casing 13-1
Upper inner face in the middle of be provided with for belt 11 through dodge hole 13-2.
In this example when using wheel to drive when, sole 1 lifts to top, produces fortune by the way of adjusting centre-of gravity shift
Dynamic, direction of rotation and the rotary speed of two wheels 9 can independently control, when two-wheeled 9 moves towards same direction when, and machine
Advance or retreat, when two-wheeled 9 a positive and a negative rotates when, machine rotation；
When using both legs as motion when, the equidirectional synchronized motion of both legs is for advancing or retreating, and both legs one are just
The one synchronized motion of opposite direction is rotation, for ensureing that the synchronized motion of both legs is to catch the both feet palm by each position sensor 6
Altitude information, then control the direction of rotation of lower limb motor 15 by altitude information and size realize synchronizing.When the both feet palm 1 fortune
When moving liftoff, being taken turns by double 9 and land, realize again landing of both feet, circulation realizes the advance of both feet successively.
Claims (10)
1. a wheel biped robot, it is characterised in that:
Including circular wheel (9)；The uniform gear teeth (10) on the medial wall of described wheel or on inwall；
The lower limb (2) of two bottoms axle pin palm (1)；
It is located at the fixing device in wheel (9)；Described fixing device is provided with slide opening (7-1) vertically upward；
It is provided with the wheel drive unit of follower belt gear (8)；
Foot driving means；Position sensor (6) it is additionally provided with in described sufficient driving means；
It is provided with the controller of wireless signal transceiver module；
Battery (12)；
Described fixing device is located in wheel (9), and fixing device is rotatably connected along the inwall taking turns (9)；
Described wheel drive unit, sufficient driving means, controller, battery are respectively provided at the different parts of fixing device；
The follower belt gear (8) of described wheel drive unit engages with the gear teeth (10) of wheel (9)；
The top of described lower limb (2) is slidably connected with slide opening (7-1), and the middle part of lower limb (2) connects with foot driving unit shaft；
The power interface of described controller is connected with battery (12) path, and the first via signal end of controller (4) connects wheel driving
The signal end of dynamic device, the second road signal end of controller (4) connects the signal input part of foot driving means, controller (4)
The signal output part of signal input part link position sensor (6)；The signal output part link position sensor of foot driving means
(6) signal input part；The wireless signal transceiver module of controller is used for and remote controller wireless telecommunications；
When using wheel (9) to run, controller controls the lower limb of foot driving means and rotates, and moves upward, so along slide opening (7-1) simultaneously
Rear control wheel driving means is carried out driving wheel (9) and is rotated；
When using foot to move, controller controls foot driving means driving leg and rotates, and drives foot to go back while rotating
Moving up and down in the linear position up and down that slide opening (7-1) limits, when foot is lifted away from ground, then wheel lands, until foot is again
Landing, circulation realizes the advance of biped successively.
2. a kind of wheel biped robot as claimed in claim 1, it is characterised in that:
Described wheel drive unit is for including follower belt gear (8), motor pulley (14), turbin generator (13)；Described from
Dynamic belt gear (8) includes using the one side at rotating disk to be installed with the follower belt gear teeth being uniformly distributed along the circumference, at the ring of rotating disk
Shape outer wall is provided with and is embedded the belt grooves of belt (11) and is constituted；Described motor pulley (14) axle is connected on turbin generator (13)
Output shaft on, motor pulley (14) and follower belt gear (8) use belt (11) to be connected；The output shaft of turbin generator (13)
Centerline axis parallel in wheel (9) axial；
When the gear teeth (10) are uniform along the medial wall taken turns, the described gear teeth (10) are set to cylindric, the center of the described gear teeth (10)
Axis is axially in parallel with wheel, and the described gear teeth (10) engage with the follower belt gear teeth of follower belt gear (8) side；
When the gear teeth (10) are located at the inwall of wheel, the half of the tooth crest of the follower belt gear teeth of described follower belt gear (8)
Footpath is more than the radius of annular outer wall of rotating disk, and the gear teeth (10) of the inwall of wheel fall with the follower belt gear teeth and engage.
3. wheel biped robot as claimed in claim 1 a kind of, it is characterised in that: described wheel is provided with left and right two, respectively by
One wheel drive unit drives；Described lower limb is provided with left and right two, is driven by foot driving means respectively.
4. a kind of wheel biped robot as claimed in claim 3, it is characterised in that:
Described fixing device includes base (21), support (20)；It is respectively equipped with at the corner of the bottom surface of described base (21)
Wheel bearing seat (21-2)；The front left side of the bottom surface of base (21) and right lateral side are respectively equipped with perpendicular plate, and described perpendicular plate is respectively
It is positioned at before and after corresponding side between two wheel bearing seats (21-2), and on two perpendicular plates, sets lower limb motor axis hole (21-1) respectively,
It is additionally provided with battery case (21-3) in the middle of base (21)；Described support (20) includes that centre is provided with the base plate of battery hole (20-3)
(20-4), the left and right sides of base plate (20-4) is respectively perpendicular layout riser, and the lateral surface of riser is respectively perpendicular to being provided with escape groove
(20-1)；The top of riser is provided with wheel bearing axis hole (20-5)；The lateral surface of riser be sticked outside riser (7), described slide opening
(7-1) outside riser (7) it is located at upper and corresponding by groove (20-1) with wall；The bottom of described support (20) is fixed on base
(21) top, and the battery case (21-3) of base is corresponding with the battery hole of support (20) (20-3)；
The bottom of described battery (12) is embedded in battery case (21-3), after the top of battery (12) passes battery hole (20-3)
It is positioned in the middle of two risers；Described battery uses the power interface of line connecting controller.
5. a kind of wheel biped robot as claimed in claim 4, it is characterised in that:
The inwall of described wheel (9) is provided with inside and outside two wheel bearing grooves (19)；
The inner side over glaze on the top of described riser connects follower belt gear (8)；The lateral surface upper shaft on the nearly top of described riser
Connect wheel bearing (3)；Described upper whorl axial holds the axle place of connecing of (3) and riser and connects higher than the axle of follower belt gear (8) with riser
Place, and the end face of follower belt gear (8) is higher than the end face of riser；
The outer end of each wheel bearing seat (21-2) of base (21) is respectively adopted connecting shaft axle and connects a lower wheel bearing (3-1)；
Two lower wheel bearings (3-1) of corresponding side are embedded in the wheel bearing groove (19) in the outside of the wheel (9) of corresponding side, corresponding side
Upper whorl axial hold (3) be embedded realize in the wheel bearing groove (19) of the inner side of the wheel (9) of corresponding side fixing device along wheel (9) interior
Wall is rotatably connected；
Turbin generator (13) and controller (4) set up separately on the base (21) of side before and after support (20).
6. a kind of wheel biped robot as claimed in claim 4, it is characterised in that:
Described sufficient driving means includes lower limb motor (15), lower limb motor gear (16), lower limb gear (17), lower limb gear arm (18), institute
The side of the lower limb gear (17) stated is fixed on the medial surface of one end of lower limb gear arm (18)；Outside the other end of lower limb gear arm (18)
Side axle connects the middle part of lower limb (2)；The medial surface of lower limb motor gear (16) sets deep gouge；The output shaft of described lower limb motor (15) passes
Lower limb motor axis hole (21-1) rear axle acting flange dish (15-1) on the perpendicular plate of the base (21) of corresponding side, ring flange (15-1)
Card is embedded in the deep gouge of lower limb motor gear (16) and fixed thereto, described lower limb motor gear (16) engagement lower limb gear
(17)；
Described position sensor (6) is fixed on outside riser (7), and the shell of position sensor (6) connects sensor horizontal stroke
One end of axle (6-1), the central axis of described sensor transverse axis (6-1) is axially in parallel with wheel；Sensor transverse axis (6-1)
Other end axle connects one end of sensor arm (5), and the other end of sensor arm (5) sets mounting hole, one end axle of a lower limb transverse axis (2-1)
Connecing the top inner side face of lower limb (2), the other end of lower limb transverse axis (2-1) sequentially passes through the slide opening (7-1) of mounting hole, outside riser (7)
After fix a securing member, securing member is embedded in the escape groove (20-1) of riser.
7. a kind of wheel biped robot as claimed in claim 4, it is characterised in that:
It is provided with rear cross beam between the trailing flank of two described risers, between the leading flank of two risers, is provided with front beam, and front
The breach (20-2) passed for belt it is provided with in the middle of crossbeam；Phase between the front beam and rear cross beam of breach (20-2) both sides
The arc notch board (20-7) agreeing with follower belt gear (8) should be respectively equipped with in place；
The lateral surface on the top of described riser is provided with and agrees with upper whorl axial and hold the circular groove (20-8) of (3).
8. a kind of wheel biped robot as claimed in claim 5, it is characterised in that: corresponding turbin generator (13) lower section and corresponding control
It is respectively equipped with louvre (21-4) on base (21) below device processed.
9. a kind of wheel biped robot as claimed in claim 3, it is characterised in that: it is provided with the wheel of concavity groove in the middle of a bottom surface
Motor set casing (13-1) is located at the top of two turbin generators (13) in left and right, and is fixed on recessed by two turbin generator (13) constraints
Between groove and base (21), it is provided with in the middle of the upper inner face of described turbin generator set casing (13-1) and passes for belt (11)
Dodge hole (13-2).
10. wheel biped robot as claimed in claim 1 a kind of, it is characterised in that: the lower forks of described lower limb become before and after two
Individual branch lower limb, each point of leg shaft connects the lower limb palm (1).
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| CN201610498220.0A CN106080828B (en) | 2016-06-30 | 2016-06-30 | One kind wheel biped robot |
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| CN201610498220.0A CN106080828B (en) | 2016-06-30 | 2016-06-30 | One kind wheel biped robot |
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| CN106080828A true CN106080828A (en) | 2016-11-09 |
| CN106080828B CN106080828B (en) | 2018-01-26 |
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| CN113335412A (en) * | 2021-05-12 | 2021-09-03 | 上海工程技术大学 | Gorilla bionic walking robot |
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|---|---|
| CN106080828B (en) | 2018-01-26 |
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Address after: 200120 room 602 and 603, No.2 Boyun Road, Zhangjiang hi tech park, Pudong New Area, Shanghai Patentee after: SHANGHAI DFROBOT Co.,Ltd. Address before: 200233 Shanghai, Pudong New Area, China (Shanghai) free trade test area, Liang Xiu Road, No. 112, block 601A, 601B, 602A room A Patentee before: SHANGHAI DFROBOT Co.,Ltd. |