CN107054494A - A kind of displacement Stump-jump wheel leg for mobile robot - Google Patents
A kind of displacement Stump-jump wheel leg for mobile robot Download PDFInfo
- Publication number
- CN107054494A CN107054494A CN201710217217.1A CN201710217217A CN107054494A CN 107054494 A CN107054494 A CN 107054494A CN 201710217217 A CN201710217217 A CN 201710217217A CN 107054494 A CN107054494 A CN 107054494A
- Authority
- CN
- China
- Prior art keywords
- drive device
- leg
- leading screw
- thread leading
- internal thread
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of displacement Stump-jump wheel leg for mobile robot, wheel leg includes drive device, drive device housing, supporting leg, movable pulley.Drive device includes drive motor, decelerator, external screw thread leading screw, internal thread leading screw driven member, supporting leg includes support leg of drawing money on credit, short supporting leg, drive motor is arranged on one end of drive device housing with decelerator, support leg of drawing money on credit one end is hinged on internal thread leading screw driven member, bottom is provided with movable pulley, internal thread leading screw driven member engages external screw thread leading screw, motor rotation drives internal thread leading screw driven member inwardly or outwardly to be moved along drive device shell length direction on outer threaded screw rod, internal thread leading screw driven member drives supporting leg movement to adjust the upright position of movable pulley, the innovative point of the present invention is that take turns leg can adjust the change of movable pulley upright position by the displacement deformation of itself, it is simple in construction, configuration is ingenious, being capable of self-locking, a kind of feasible implementation is provided for the big obstacle detouring of mobile robot.
Description
Technical field
The present invention relates to intelligent robot technology field, more particularly to a kind of displacement Stump-jump wheel for mobile robot
Leg.
Background technology
Mobile robot is broadly divided into wheeled, crawler type and leg formula three major types according to the difference of motion mode.Along with section
Skill and the progress of industry, mobile robot cause walking mechanism to obtain new development by the combination of Different Exercise Mode, such as：
Take turns robot leg, carry out robot leg, Lun Lv robots, wheel shoe robot leg etc., this kind of robot is referred to as hybrid machine people.
The features such as wheeled mobile robot has maneuverability, stable, speed is fast, load-carrying is big, but it is adaptively
Shape, obstacle climbing ability are limited.By contrast, leg type mobile robot has good landform adaptability, an obstacle climbing ability, but its
Travelling performance is poor and configuration is complicated.Wheel-leg combined type robot then takes length to keep away short, combines wheeled, leg type mobile robot
Advantage, makes robot also have powerful obstacle climbing ability while having good travelling performance.
But the performance of wheel robot leg is far from reaching above-mentioned kinetic characteristic at present, how to allow leg-wheel robot to play
Go out its due sports level, accomplish the perfect adaptation of wheeled robot and legged mobile robot exercise performance, ground as the field
The emphasis studied carefully.
In order to solve the above problems, it is necessary to which a kind of improved displacement Stump-jump wheel leg for mobile robot, the displacement is got over
Barrier wheel leg deforms adjustable movable pulley upright position by the displacement of itself to be changed, simple in construction, automatic self-locking, for mobile machine
National People's Congress's obstacle detouring provides a kind of feasible implementation, robot is had good obstacle performance and environmental adaptability.
The content of the invention
In order to overcome in existing mobile robot, robot wheel leg itself obstacle climbing ability is poor, load capacity is poor, structure does not conform to
The problems such as reason.The displacement changed the invention provides a kind of i.e. adjustable movable pulley upright position of the displacement deformation by itself is got over
Barrier wheel leg, and this be used for mobile robot displacement Stump-jump wheel leg it is simple in construction, configuration is ingenious, can self-locking, be moving machine
Device National People's Congress obstacle detouring provides a kind of feasible implementation.
The technical solution adopted for the present invention to solve the technical problems is：It is used for mobile robot the invention discloses one kind
Displacement Stump-jump wheel leg, wheel leg include drive device, drive device housing, supporting leg, movable pulley.Drive device includes driving electricity
Motivation, decelerator, external screw thread leading screw, internal thread leading screw driven member, supporting leg include draw money on credit support leg, short supporting leg.
It is preferred that, the drive motor that the driving leading screw is rotated is arranged on one end of drive device housing with decelerator.
It is preferred that, the supporting leg is suspended on below drive device by being hinged, and support leg of drawing money on credit passes through hinge in its upper end
Connector is hinged to internal thread leading screw driven member, in its bottom, support leg of drawing money on credit connection movable pulley.Short supporting leg one end passes through hinge
Connector is hinged to drive device housing distal, and the other end part that is connected through the hinge is hinged to support leg of drawing money on credit.
It is preferred that, the internal thread leading screw driven member engages external screw thread leading screw, output shaft and the external screw thread leading screw of decelerator
Linked together by shaft coupling, motor rotation drives internal thread leading screw driven member to be filled on outer threaded screw rod along driving
Shell length direction is put inwardly or outwardly to move (direction of rotation for depending on screw mandrel).
It is preferred that, the movable pulley is conventional rotating wheel, both can be power wheel or Unpowered wheel, installation
In support leg bottom of drawing money on credit, internal thread leading screw driven member drives supporting leg movement to adjust the upright position of movable pulley.
It is preferred that, the wheel leg drive device is used for extending and (that is, declining) and retract and (that is, raise) wheel leg.
It is preferred that, the motion of internal thread leading screw driven member close to drive device housing distal causes length in the drive device
The hinge assembly of supporting leg and short supporting leg is extended downwardly away from drive device.Internal thread leading screw driven member is remote in drive device
The motion of drive device housing distal cause the to draw money on credit hinge assembly of support leg and short supporting leg is upwardly extended close to drive device.Branch
Support leg of being drawn money on credit in support leg extend and retract and make movable pulley raise and reduce.
It is preferred that, it will be understood by those skilled in the art that drive device can with make supporting leg extend and retract it is any
Other suitable modes are constructed.For example, drive device can be by constituting similar to electric pushrod telescoping member.
It is preferred that, displacement Stump-jump wheel leg can provide battery and any suitable control system (not shown) with hand wheel leg
Motion, for example battery may be mounted on robot body, and electronic control system may be mounted on wireless remote control handle, handle
One or more control sticks can be included, to control the various motions for conjugating Stump-jump wheel leg.
The beneficial effects of the invention are as follows a kind of displacement Stump-jump wheel leg for mobile robot is deformed by the displacement of itself
I.e. can adjust movable pulley upright position change, simple in construction, configuration is ingenious, can self-locking, provided for the big obstacle detouring of mobile robot
A kind of feasible implementation.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is general structure schematic diagram of the present invention；
Fig. 2 is displacement Stump-jump wheel leg action schematic diagram.
1. drive device in figure, 11. drive motors, 12. decelerators, 13. external screw thread leading screws, 14. internal thread leading screws from
Moving part, 15. shaft couplings, 2. drive device housings, 3. supporting legs, 31. draw money on credit support leg, 32. short supporting legs, 4. movable pulleys, and 21. drive
Dynamic device case distal end, 6. hinge connectors.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the invention will be further described, described embodiment be only the present invention one
Section Example, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
Structure, ratio, size depicted in this specification institute accompanying drawings, quantity etc., only to coordinate specification to be taken off
The content shown, so that those skilled in the art is understood with reading, is not limited to enforceable qualifications of the invention, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influenceing the present invention
Under the effect that can be generated and the purpose that can reach, it all should still fall and obtain the model that can cover in disclosed technology contents
In enclosing.Meanwhile, cited such as " on ", " under ", "left", "right", " centre " term, are merely convenient to describe in this specification
Understand, and be not used to limit enforceable scope of the invention, being altered or modified for its relativeness is changing technology without essence
Inside hold, when being also considered as enforceable category of the invention.
【Embodiment】
Fig. 1, which is shown, is used for the displacement Stump-jump wheel leg general structure schematic diagram of mobile robot in the embodiment of the present invention.
Taking turns leg includes drive device 1, drive device housing 2, supporting leg 3, movable pulley 4.Drive device includes drive motor 11, slowed down
Device 12, external screw thread leading screw 13, internal thread leading screw driven member 14, shaft coupling 15, supporting leg 3 include draw money on credit support leg 31, short supporting leg
32。
As shown in figure 1, supporting leg 3 is suspended on the lower section of drive device 1 by being hinged, support leg of drawing money on credit 31 passes through hinge in its upper end
Chain connects 6 and is hinged to internal thread leading screw driven member 14, and in its bottom, support leg of drawing money on credit 31 is connected to movable pulley 4.Short supporting leg 32
One end is hinged to drive device housing distal 21 by hinge 6, and the other end part 6 that is connected through the hinge is hinged to support leg of drawing money on credit
31。
As shown in Figures 1 and 2, the engagement of internal thread leading screw driven member 14 external screw thread leading screw 13, the output shaft of decelerator 12 with
External screw thread leading screw 13 is linked together by shaft coupling 15, and the rotation of motor 11 drives internal thread leading screw driven member 14 in outer spiral shell
13 inwardly or outwardly move (depending on the rotation side of external screw thread leading screw 13 along the length direction of drive device housing 2 on line leading screw
To).
As shown in Figures 1 and 2, movable pulley 4 is conventional rotating wheel, both can be power wheel or Unpowered wheel,
Installed in the bottom of support leg 31 of drawing money on credit, internal thread leading screw driven member 14 drives the movement of supporting leg 3 to adjust the vertical position of movable pulley 4
Put.
As shown in Fig. 2 the wheel leg drive device 1 is used for extending and (that is, declining) and retract and (that is, raise) supporting leg 3.
As shown in Fig. 2 the motion of internal thread leading screw driven member 14 close to drive device housing distal 21 is led in drive device 1
The hinge assembly of support leg 31 and short supporting leg 32 of causing to draw money on credit is extended downwardly away from drive device 1.Internal thread leading screw in drive device 1
Motion of the driven member 14 away from drive device housing distal 21 cause to draw money on credit support leg 31 and short supporting leg 32 hinge assembly it is close
Drive device 1 is upwardly extended.Support leg of being drawn money on credit in supporting leg 3 31 extends and retracts and movable pulley 4 is raised and is reduced.
As shown in Fig. 2 it will be understood by those skilled in the art that drive device 1 can be with making supporting leg 3 extend and retract
Any other suitable mode is constructed.For example, drive device 1 can be by constituting similar to electric pushrod telescoping member.
Displacement Stump-jump wheel leg can provide battery and any suitable control system (not shown) and be moved with hand wheel leg, example
As battery may be mounted on robot body, electronic control system be may be mounted on wireless remote control handle, and handle can be wrapped
One or more control sticks are included, to control the various motions for conjugating Stump-jump wheel leg.
The beneficial effects of the invention are as follows a kind of displacement Stump-jump wheel leg for mobile robot is deformed by the displacement of itself
I.e. can adjust the upright position of movable pulley 4 change, simple in construction, configuration is ingenious, can self-locking, provided for the big obstacle detouring of mobile robot
A kind of feasible implementation.
Claims (4)
1. a kind of displacement Stump-jump wheel leg for mobile robot, wheel leg include drive device, drive device housing, supporting leg,
Movable pulley.Drive device includes drive motor, decelerator, external screw thread leading screw, internal thread leading screw driven member, and supporting leg includes length
Supporting leg, short supporting leg.
2. the displacement Stump-jump wheel leg according to claim 1 for mobile robot, it is characterised in that above-mentioned supporting leg leads to
Cross to be hinged and be suspended on below drive device, support leg of drawing money on credit is connected through the hinge in its upper end, and to be hinged to internal thread leading screw driven for part
Part, in its bottom, support leg of drawing money on credit connection movable pulley.Short supporting leg one end is connected through the hinge, and to be hinged to drive device housing remote for part
End, and the other end part that is connected through the hinge is hinged to support leg of drawing money on credit.
3. the displacement Stump-jump wheel leg according to claim 1 for mobile robot, it is characterised in that above-mentioned internal thread silk
Thick stick driven member engages external screw thread leading screw, and output shaft and the external screw thread leading screw of decelerator are linked together by shaft coupling, driving electricity
Machine rotation drives internal thread leading screw driven member inwardly or outwardly to be moved along drive device shell length direction on outer threaded screw rod
Dynamic (direction of rotation for depending on screw mandrel).
4. the displacement Stump-jump wheel leg for mobile robot according to claim 1 and claim 3, its feature exists
In the motion of internal thread leading screw driven member close to drive device housing distal causes draw money on credit support leg and short branch in above-mentioned drive device
The hinge assembly of support leg is extended downwardly away from drive device, and internal thread leading screw driven member is away from drive device housing in drive device
The motion of distal end cause the to draw money on credit hinge assembly of support leg and short supporting leg is upwardly extended close to drive device, long support in supporting leg
Leg extend and retract and make movable pulley raise and reduce.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710217217.1A CN107054494A (en) | 2017-04-05 | 2017-04-05 | A kind of displacement Stump-jump wheel leg for mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710217217.1A CN107054494A (en) | 2017-04-05 | 2017-04-05 | A kind of displacement Stump-jump wheel leg for mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107054494A true CN107054494A (en) | 2017-08-18 |
Family
ID=59603013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710217217.1A Withdrawn CN107054494A (en) | 2017-04-05 | 2017-04-05 | A kind of displacement Stump-jump wheel leg for mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107054494A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600903A (en) * | 2017-09-21 | 2018-01-19 | 江苏新宝物流机器人有限责任公司 | Raise belt feeder |
| CN109435677A (en) * | 2018-12-05 | 2019-03-08 | 深圳市远弗科技有限公司 | A kind of active Stump-jump wheel group |
| CN109774816A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | It is a kind of to collect fixed, pivot stud function wheel leg type hexapod robot |
| CN109987168A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | A kind of Three Degree Of Freedom robot leg system based on toothed belt transmission |
| CN109987167A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | It is a kind of towards the high degree of adaptability robot popular motion platform for relating to core complex environment |
| CN110667724A (en) * | 2019-11-11 | 2020-01-10 | 路邦科技授权有限公司 | All-terrain mobile robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202320578U (en) * | 2011-11-06 | 2012-07-11 | 中国矿业大学 | Wheel leg mechanism with continuously engaging gears |
| CN103395457A (en) * | 2013-07-01 | 2013-11-20 | 中国科学技术大学 | Multi-foot moving device based on combination driving mechanism |
| CN105383586A (en) * | 2015-11-23 | 2016-03-09 | 上海交通大学 | Composite mobile robot with wheel-track legs |
-
2017
- 2017-04-05 CN CN201710217217.1A patent/CN107054494A/en not_active Withdrawn
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202320578U (en) * | 2011-11-06 | 2012-07-11 | 中国矿业大学 | Wheel leg mechanism with continuously engaging gears |
| CN103395457A (en) * | 2013-07-01 | 2013-11-20 | 中国科学技术大学 | Multi-foot moving device based on combination driving mechanism |
| CN105383586A (en) * | 2015-11-23 | 2016-03-09 | 上海交通大学 | Composite mobile robot with wheel-track legs |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600903A (en) * | 2017-09-21 | 2018-01-19 | 江苏新宝物流机器人有限责任公司 | Raise belt feeder |
| CN109987168A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | A kind of Three Degree Of Freedom robot leg system based on toothed belt transmission |
| CN109987167A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | It is a kind of towards the high degree of adaptability robot popular motion platform for relating to core complex environment |
| CN109987167B (en) * | 2017-12-29 | 2021-06-22 | 中国核动力研究设计院 | High-adaptability robot general motion platform for nuclear-involved complex environment |
| CN109435677A (en) * | 2018-12-05 | 2019-03-08 | 深圳市远弗科技有限公司 | A kind of active Stump-jump wheel group |
| CN109435677B (en) * | 2018-12-05 | 2023-09-19 | 深圳市远弗科技有限公司 | Initiative obstacle crossing wheel set |
| CN109774816A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | It is a kind of to collect fixed, pivot stud function wheel leg type hexapod robot |
| CN109774816B (en) * | 2019-03-10 | 2024-04-02 | 浙江工业大学 | Wheel leg type six-foot robot integrating fixed and in-situ steering functions |
| CN110667724A (en) * | 2019-11-11 | 2020-01-10 | 路邦科技授权有限公司 | All-terrain mobile robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107054494A (en) | A kind of displacement Stump-jump wheel leg for mobile robot | |
| CN105831928B (en) | Automatic lifting wheel mechanism and power wheel | |
| CN206914469U (en) | With multivariant climbing robot | |
| CN104440904B (en) | A kind of manipulator of wire rope gearing | |
| CN207755515U (en) | Auxiliary lifting rod of electric walking stick | |
| CN106037197A (en) | Mobile platform and luggage box comprising same | |
| CN106695877A (en) | Hanging mechanical arm of multi-rotor unmanned aerial vehicle | |
| WO2010121505A1 (en) | Portable electric ladder | |
| CN209999177U (en) | detection mechanism turns to modified intelligence and patrols and examines robot | |
| CN207267508U (en) | A kind of variable bit wheel leg for mobile robot obstacle detouring | |
| CN209130444U (en) | A kind of industrial robot pedestal convenient for adjusting height | |
| CN209411695U (en) | A kind of guide tracked hydraulic elevating platform | |
| CN206436271U (en) | Mechanical arm is affiliated to for multi-rotor unmanned aerial vehicle | |
| CN206717843U (en) | A kind of mechanical arm of intelligent tennis ball pickup robot | |
| CN205671691U (en) | Automatic lifting wheel mechanism and power wheel | |
| CN103738613B (en) | A kind of hand-operated lifting caster device for various babinets | |
| CN205757728U (en) | A kind of courtyard umbrella umbrella stem rustless steel transfer | |
| CN207370258U (en) | It is a kind of can be with the chest of stair climbing | |
| CN206925845U (en) | A kind of service robot of centre of gravity, high kinetic stability | |
| CN206766182U (en) | The sufficient robot that walks upright of one kind two | |
| CN209224921U (en) | A kind of active Stump-jump wheel group | |
| CN209057812U (en) | A kind of loop wire athletic pets toy | |
| CN206938470U (en) | One kind power supply vehicle guide administration of power supply | |
| CN112443729A (en) | Telescopic detector device capable of improving detection range | |
| CN207266766U (en) | A kind of new tooth case |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170818 |