CN106904225B - A kind of complicated ground mobile robot of novel wheel leg type - Google Patents
A kind of complicated ground mobile robot of novel wheel leg type Download PDFInfo
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- CN106904225B CN106904225B CN201710206436.XA CN201710206436A CN106904225B CN 106904225 B CN106904225 B CN 106904225B CN 201710206436 A CN201710206436 A CN 201710206436A CN 106904225 B CN106904225 B CN 106904225B
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- robot
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- wheel leg
- wheel
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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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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention provides a kind of complicated ground mobile robot of novel wheel leg type.The present invention includes body after the predecessor, robot to be linked together by flexible joint and robot, it is connected separately with a pair of of pentagonal wheel leg with it after the predecessor, robot and the robot, a motor is connected in each pentagonal wheel leg, a pair is provided with after the predecessor, robot or the robot to lead leg, after the predecessor, robot or the robot be fixed with mechanical arm.The present invention improves the obstacle climbing ability and climbing ability of mobile robot, has both that travel speed is fast, the strong feature of obstacle climbing ability.Mobile robot technology and sensor technology are blended simultaneously, so that controllers preferably grasp the motion state of robot.It solves the problems, such as that relying on camera at this stage understands robot motion's state, for improving operating efficiency, more accurately completes emergency processing task and have great importance.
Description
Technical field:
The present invention relates to a kind of complicated ground mobile robots of novel wheel leg type, belong to mobile robot technology field.
Background technique:
Mobile robot be it is a kind of can be scouted, be searched under dangerous complex environment, the robot of emergency processing.By
In application environment complexity, it is therefore desirable to which robot has good ground adaptability and stronger obstacle climbing ability.With city
The propulsion of change, more and more buildings occur, and scout, search in building, disposition has become measurement mobile robot
Performance standard.Since this kind of working environment is more complicated, so mobile robot needs to have quick speeling stairway, traveling
The features such as speed is fast, easy to operate.
Currently, mobile robot can be divided into wheeled, leg formula, crawler type etc. according to the difference of mechanical structure, but all exist each
From limitation.Wheeled mobile robot movement velocity is fast, and than conveniently travelling on level land, but it does not have crossing over blockage
Ability, it is impossible to meet requirements at this stage；Legged mobile robot obstacle climbing ability is strong, can cross higher obstacle and climbing building
Ladder, but legged mobile robot speed is slower, cannot improve operating efficiency；Caterpillar type robot is chiefly used in ground run, stationarity compared with
It is good, but sidesway is easy to happen during crossing over blockage and speeling stairway, or even overturning phenomenon occur, usually go out in steering procedure
The case where now taking off band.
At this stage, the mode of operation of most of mobile robots is still based on remote operating, and operator is generally according to vehicle
It carries camera and judges that the motion state of robot, can not accurately grasp the bulk case of robot, this will affect behaviour
The judgement for making personnel, lead to the failure of operation task, or even will appear danger etc..
Summary of the invention
The purpose of the present invention is comparing limitation for the mechanical structure of mobile robot at this stage, in travel speed and obstacle detouring
The problem of ability cannot have concurrently, provides a kind of complicated ground mobile robot of novel wheel leg type, and the present invention uses pentagonal wheel
Leg structure improves the obstacle climbing ability and climbing ability of mobile robot, has both that travel speed is fast, the strong feature of obstacle climbing ability.
Be able to solve the problem that the single speed of robot at this stage is fast, obstacle climbing ability is strong, this for improve scouting, search, treatment effeciency,
Emergency event is solved especially in City Building to have great importance.Simultaneously by mobile robot technology and sensor skill
Art blends, so that controllers preferably grasp the motion state of robot.It solves to rely on camera understanding machine at this stage
The problem of people's motion state, more accurately completes emergency processing task and has great importance for improving operating efficiency.
Above-mentioned purpose is achieved through the following technical solutions:
A kind of complicated ground mobile robot of novel wheel leg type, including body, four five-pointed stars after predecessor, robot, robot
Shape wheel leg, two lead leg and five part of mechanical arm.Body is closed by flexible after the predecessor, robot and the robot
It is connected separately with a pair of of pentagonal wheel leg with after section connection, the predecessor, robot and the robot, it is each described
Pentagonal wheel leg wheel shaft be connected with direct current generator, after the predecessor, robot or the robot be provided with one
To leading leg, the predecessor, robot is fixed with mechanical arm.
Further, torque sensor is installed on the wheel shaft of each pentagonal wheel leg, each five-pointed star
The end of shape wheel leg is equipped with pressure sensor.
Further, the end of the pentagonal wheel leg and wheel shaft connection place are arc-shaped shape, each pentagonal wheel leg
End and ground contact portion use ball.
Further, each described leading leg is connect by fixing piece with the predecessor, robot.
Further, each end led leg is equipped with auxiliary wheel.
Further, the mechanical arm uses four-degree-of-freedom mechanical arm.
Further, the four-degree-of-freedom mechanical arm includes the large arm being connected in turn, forearm, wrist and hand
Pawl.
The utility model has the advantages that
Compared with prior art, the invention has the following advantages:
(1) present invention uses independent driving structure, and structure is simple, the spy that comprehensive wheeled speed is fast and leg formula obstacle climbing ability is strong
Point.Robot front and rear body is connected by flexible joint, greatly enhances the landform adaptability of robot.
(2) present invention can be according to wheel leg measured by the torque sensor of each wheel leg and robot body junction
Torque carries out the adjusting of speed, while each wheel leg end is equipped with pressure sensor, controls machine according to the data of sensor
Device people controls two groups of wheel legs holdings and moves synchronously during traveling and during obstacle detouring.
(3) present invention is equipped with one group and leads leg, and when Robot is advanced, auxiliary wheel, which lands, to be shared each wheel leg and undertake
Pressure, the stability of robot can be improved；During robot crossing over blockage and speeling stairway, leads leg and swings forward,
Enhance the obstacle detouring and climbing ability of robot.
(4) present invention carries small-sized four-degree-of-freedom mechanical arm, can make robot under dangerous complex environment, complete to answer
Anxious handling and sample for task.
(5) the complicated ground mobile robot of novel wheel leg type have wheel type movement speed fastly and leg formula obstacle climbing ability by force
Advantage, the robot can be travelled at a high speed in the driving process of level land；It, should during crossing over blockage and speeling stairway
Robot does not need adjustment fuselage state can be with higher speed crossing over blockage under the conditions of guaranteeing robot smooth-ride
And speeling stairway.
Detailed description of the invention
Fig. 1 is structural upright schematic diagram of the invention；
Fig. 2 is wheel leg fixation member cross-sectional view in the present invention；
Fig. 3 is the structural upright schematic diagram of wheel leg in the present invention；
Fig. 4 is the structural upright schematic diagram led leg in the present invention；
Fig. 5 is the structural upright schematic diagram of mechanical arm in the present invention；
Fig. 6 is the sensor distribution schematic diagram of each pentagonal wheel leg in the present invention；
Numbering in the drawing are as follows: 1. predecessors, robot；2. body after robot；3. wheel leg frame；4. leading leg；5. wheel leg direct current
Motor；6. torque sensor；7. the rubber wheel with pressure sensor；8. motor of leading leg；9. auxiliary wheel；10. manipulator paw；
11. mechanical arm wrist；12. mechanical hand arm；13. manipulator large arm；14. flexible joint；15. camera.
Specific embodiment
With reference to embodiment, the present invention is furture elucidated, it should be understood that following specific embodiments are only used for
It is bright the present invention rather than limit the scope of the invention.
Such as Fig. 1, shown in 2,3,4,5, the invention discloses a kind of NEW TYPE OF COMPOSITE movable robot with wheel legs, mainly by machine
Body after people predecessor, robot, four five star-like wheel legs, two lead leg and small-sized four-degree-of-freedom mechanical arm composition.It is used
Material is all aluminium alloy, and various pieces connection type is bolt retainer connection.
As shown in Figure 1, predecessor, robot is connected with body after robot by flexible joint, predecessor, robot and robot
Body can relatively rotate afterwards；Four pentagonal wheel legs are separately fixed at body after predecessor, robot and robot, one in the present embodiment
Group, which is led leg, is fixed on predecessor, robot；Small-sized four-degree-of-freedom mechanical arm is carried in predecessor, robot, can complete emergency processing and appoint
Business.
Such as Fig. 1, shown in 2,3, each pentagonal wheel leg is bolted part and is connected with direct current generator, installs at wheel shaft
Torque sensor, torque of robot measurement during traveling reasonably adjust the speed of robot according to the size of torque
Degree.Each wheel leg end is equipped with pressure sensor, can be passed during robot advances and climbs building according to pressure in this way
The direction of advance of the measurement result adjustment robot of sensor, advances and climbs along straight line to guarantee that two groups of wheel legs of robot or so are synchronous
Stair climbing.
Such as Fig. 1, shown in 4, leads leg for one group and be bolted part and be connected to the motor, be fixed to predecessor, robot, swing
The end of leg is equipped with auxiliary wheel.When robot is when level land is advanced, auxiliary wheel lands, and reduces the pressure that each wheel leg undertakes；
When robot crossing over blockage, change self-view of leading leg, auxiliary robot crossing over blockage substantially increases getting over for robot
Barrier ability.
Such as Fig. 1, shown in 5, robot carries small-sized four-degree-of-freedom mechanical arm, before mechanical arm is bolted on robot
Body.Mechanical arm includes four part such as large arm, forearm, wrist, gripper, and manipulator can grab object, this can make robot complete
At corresponding emergency processing task and sampling task dispatching.
Claims (5)
1. a kind of complicated ground mobile robot of novel wheel leg type, it is characterised in that: including being connected to one by flexible joint
Body after the predecessor, robot risen and robot, after the predecessor, robot and the robot be connected separately with a pair
Pentagonal wheel leg each connects a motor, the predecessor, robot or the robot in the pentagonal wheel leg
A pair is provided with afterwards to lead leg, it is described to lead leg between the predecessor, robot and the pentagonal wheel leg of rear body, and lead to
It crosses bolt retainer to be connected to the motor, and described lead leg can change its own angle；The predecessor, robot or institute
Mechanical arm is fixed with after the robot stated；
Torque sensor is installed on the wheel shaft of each pentagonal wheel leg, the end dress of each pentagonal wheel leg
There is pressure sensor；The end and wheel shaft connection place of the pentagonal wheel leg are arc-shaped shape；It is each described to lead leg
End is equipped with auxiliary wheel.
2. the complicated ground mobile robot of novel wheel leg type according to claim 1, it is characterised in that: each described five
The end of star wheel leg and ground contact portion use ball.
3. the complicated ground mobile robot of novel wheel leg type according to claim 1, it is characterised in that: described in each
It leads leg and is connect by fixing piece with the predecessor, robot.
4. the complicated ground mobile robot of novel wheel leg type according to claim 1, it is characterised in that: the machinery
Arm uses four-degree-of-freedom mechanical arm.
5. the complicated ground mobile robot of novel wheel leg type according to claim 4, it is characterised in that: the four selfs
It include the large arm being connected in turn, forearm, wrist and gripper by degree mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710206436.XA CN106904225B (en) | 2017-03-31 | 2017-03-31 | A kind of complicated ground mobile robot of novel wheel leg type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710206436.XA CN106904225B (en) | 2017-03-31 | 2017-03-31 | A kind of complicated ground mobile robot of novel wheel leg type |
Publications (2)
| Publication Number | Publication Date |
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| CN106904225A CN106904225A (en) | 2017-06-30 |
| CN106904225B true CN106904225B (en) | 2019-03-29 |
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| CN201710206436.XA Active CN106904225B (en) | 2017-03-31 | 2017-03-31 | A kind of complicated ground mobile robot of novel wheel leg type |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262580B (en) * | 2018-09-30 | 2020-06-19 | 荆门它山之石电子科技有限公司 | Wheeled robot |
| CN109644813B (en) * | 2019-02-03 | 2024-06-18 | 南京林业大学 | Self-propelled self-balancing felling robot for hills |
| CN211391490U (en) * | 2019-10-17 | 2020-09-01 | 唐山维数科技有限公司 | Robot capable of climbing stairs |
| CN211388758U (en) * | 2019-10-17 | 2020-09-01 | 唐山维数科技有限公司 | Executive device for stair climbing robot |
| CN112891080A (en) * | 2019-12-03 | 2021-06-04 | 张润海 | Barrier-free star wheel of electric wheelchair |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60219169A (en) * | 1984-04-13 | 1985-11-01 | Toshiba Corp | Travel car |
| JP2558736B2 (en) * | 1987-09-18 | 1996-11-27 | 三菱重工業株式会社 | Leg drive control method for legged mobile robot |
| US6484829B1 (en) * | 2000-07-03 | 2002-11-26 | Kenneth Ray Cox | Battery powered stair-climbing wheelchair |
| CN201193060Y (en) * | 2008-03-02 | 2009-02-11 | 万忠清 | Star wheel group going along step ladder |
| CN101797936B (en) * | 2010-03-26 | 2011-11-30 | 浙江大学 | Wheel swinging-type compound drive device for miniature mobile robot |
| CN102581836A (en) * | 2012-02-29 | 2012-07-18 | 哈尔滨工程大学 | Mobile robot coordinately driven by multifunctional mechanical arms and wheels |
| CN202557647U (en) * | 2012-05-03 | 2012-11-28 | 上海理工大学 | Mechanical stairs climbing device |
| CN102963455B (en) * | 2012-11-12 | 2015-07-08 | 上海交通大学 | Pull rod type suspended robot wheel leg walking mechanism |
| CN103818491A (en) * | 2012-11-19 | 2014-05-28 | 青岛理工大学琴岛学院 | Disaster relief robot |
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2017
- 2017-03-31 CN CN201710206436.XA patent/CN106904225B/en active Active
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