CN107140052A - A kind of wheel leg type Hexapod Robot with suspension - Google Patents
A kind of wheel leg type Hexapod Robot with suspension Download PDFInfo
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- CN107140052A CN107140052A CN201710271810.4A CN201710271810A CN107140052A CN 107140052 A CN107140052 A CN 107140052A CN 201710271810 A CN201710271810 A CN 201710271810A CN 107140052 A CN107140052 A CN 107140052A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
- B60G15/06—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper
- B60G15/067—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper characterised by the mounting on the vehicle body or chassis of the spring and damper unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
- B60G7/006—Attaching arms to sprung or unsprung part of vehicle, characterised by comprising attachment means controlled by an external actuator, e.g. a fluid or electrical motor
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
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Abstract
The present invention discloses a kind of wheel leg type Hexapod Robot with suspension, including body and six single leg structures；Six single leg mechanism is uniform in body circumference.Single leg structure has with joint, hip joint and knee joint；Wherein, with being connected between joint and body, rotated by motor driving around vertical Z axis；Hip joint with being connected between joint by suspension, the suspension only be used only a shock absorber can just realize the damping, buffering effect of both direction.Hip joint, by electric-machine directly-driven, is rotated around horizontal Y-axis, is connected between the two by thigh structure with knee joint；Knee joint is connected with shank structure end, and shank structure end is also equipped with wheeled locomotion mechanism；Shank front end is provided with sufficient end buffer gear.The present invention has the wheel leg type Hexapod Robot of suspension, it is ensured that integrality of the internal body environment in motion process, while the stability that can be improved the bearing capacity of robot and be loaded in motion process.
Description
Technical field
The present invention relates to robot field, specifically a kind of wheel leg type Hexapod Robot with suspension.
Background technology
At present, conventional mobile robot includes wheeled robot and caterpillar type robot, compared with them, leg formula machine
People has stronger landform adaptability and more preferable mobility.As the Typical Representative of legged mobile robot, six sufficient machines
People has the extremity body structures of abundant gait and redundancy, and motion is flexible, can be moved on discrete ground, leaping over obstacles etc..
In addition, under flat ground environment, compared with wheeled, caterpillar mobile robot, traditional legged mobile robot, which then has, to be moved
The dynamic shortcoming that speed is slow, efficiency is low, therefore, has highly important meaning by the wheeled research with the move mode that leg formula is combined
Justice.Suspension is the total of initial all attachment means applied in automobile making between automobile frame and wheel or vehicle bridge
Claim, two wheels in independent suspension system and dependent suspension, dependent suspension can be divided into and connected each other, both
Bounce influences each other.And the wheel of each in independent suspension system has respective hitch, it is mutually independent.By hanging system
System, can be effectively reduced the vibrations of mobile platform, alleviate the impact between platform vital part, improve platform stability and
Reliability.Publication No. CN 106427446A patent of invention proposes a kind of suspension of robot car body, although it is tied
Structure is simple, but it realizes the damping to robot body in vertical direction.
For Hexapod Robot, by loading various equipment with it, they can be performed in complicated landform
Various tasks, this requires Hexapod Robot to have stronger motion steady with higher bearing capacity and in the loaded state
It is qualitative.In robot moving process, either leg formula move mode or wheel type mobile mode, robot also need to ensure this
The integrality of in-vivo device and the influence jolted to body equipment for reducing all directions of robot in moving process.Existing
In the large-scale Hexapod Robot having, it is primarily upon the bearing capacity of robot, and robot body is loaded in moving process
The research of influence to motion is less, while body interior equipment is jolted by motion is influenceed less.Therefore, leg formula machine
The research tool of the suspension of people is of great significance.
The content of the invention
In view of the above-mentioned problems, the present invention proposes a kind of wheel-leg combined type Hexapod Robot with independent suspension system, hang
A shock absorber, which is only used only, in extension system can just realize the damping, buffering effect of both direction, it is ensured that robot interior environment exists
Integrality in motion process, while the stability that the bearing capacity of robot can be improved and loaded in motion process；
The present invention has the wheel leg type Hexapod Robot of suspension, including body and six single leg structures；Six single legs
Mechanism is uniform in body circumference.
Single leg structure has with joint, hip joint and knee joint.Wherein, with being connected between joint and body, electricity is passed through
Machine driving is rotated around vertical Z axis.Hip joint with being connected between joint by suspension；Hip joint passes through motor with knee joint
It is straight to drive, rotate, be connected between the two by thigh structure around horizontal Y-axis.Knee joint is connected with shank structure end, shank structure end
End is also equipped with wheeled locomotion mechanism；Shank front end is provided with sufficient end buffer gear.
Above-mentioned suspension includes connector under transverse arm, shock absorber, shock absorber, is connected with articulated joint with articulated joint
Part.Wherein, at the top of shock absorber and with forming the revolute pair rotated around Y-axis between joint piece；Shock absorber bottom under shock absorber with being connected
The revolute pair rotated around Y-axis is formed between at the top of part.Transverse arm end and with formed between joint around Y-axis rotate revolute pair；Shock absorber
The prismatic pair along Z axis is formed between lower connector bottom and transverse arm front end.It is installed on joint connector on hip joint；Connect with joint
Circumferentially opposed positioning between head connector and connector；Transverse arm front end and with joint connector and with shape between articulated joint connector
Into the revolute pair rotated around horizontal X axle.It is above-mentioned that there is connector bottom protrusion under contact surface, with shock absorber with articulated joint top
Contact.
Thus the damping, buffering effect of both direction can just be realized by making suspension that a shock absorber is only used only：Work as list
During leg structural vertical direction stress, shock absorber, which is pressurized, to produce tension force to outside, and this is to withstand connector under shock absorber, is made
It is close to the fishplate bar of transverse arm, and now the stress of single leg mechanism is transferred to shock absorber through connector under transverse arm and shock absorber, by shock-absorbing
Device shock absorbing.When single leg structure is by lateral impact, the trend rotated around Y-axis is had, can now be driven with closing
Save joint and rotated in the lump with articulated joint connector, and then by pushing up shock-absorbing with the contact surface at the top of joint connector
Connector is moved up with respect to transverse arm under device, thus compresses shock absorber, by shock absorber shock absorbing.
The running status for the robot that the present invention is designed includes walking mobile status and wheel type mobile state, and wherein walking is moved
Dynamic state is by controlling the operating with joint motor, hip joint motor and knee joint motor to realize, by controlling three
The steering of motor and rotating speed realizing the advance of robot ambulatory status, retreat and turn to.Wheel type mobile state is by control
Wheel motor and steering with joint motor and rotating speed realizing the advance of robot wheel type mobile state, retreat and turn to.Separately
Outside, by increasing camera, corresponding sensor and motion arm etc. on machine human organism, there can be high machine as all types of
The mobile robot of kinetic force, the travel mechanism that the platforms such as the specialized robot of various tasks can be completed.
The advantage of the invention is that：
1st, in wheel leg type Hexapod Robot of the present invention with independent suspension system, a shock-absorbing is only used only in suspension
Device can just realize the damping, buffering effect of both direction.When being walked under rugged environment, suspension not only can be with
Effectively slow down the elliptical gear of in the vertical direction between pedipulator and body, and can work as and touched in pedipulator swing process
When being breakked away suddenly to barrier or pedipulator, slow down pedipulator with body in turning on the outside axis direction of body center
Square, so as to buffer mechanism leg torque to the impact with joint motor.Simultaneously under wheel type mobile pattern, it can slow down
Because of the elliptical gear between Uneven road rubber wheel, pedipulator and body in motion process.Either walking is moved or wheeled
Move mode, the suspension can ensure integrality of the internal body environment in motion process, while machine can be improved
The bearing capacity of device people and the stability loaded in motion process；
2nd, in wheel leg type Hexapod Robot of the present invention with independent suspension system, with the drive of joint and wheeled locomotion mechanism
Dynamic to use motor linear drives mode, this can not only reduce occupancy of the motor to robot interior space, mitigate robot
Weight, and the operational efficiency of motor can be improved；
3rd, in wheel leg type Hexapod Robot of the present invention with independent suspension system, hip joint and kneed joint motor
Equal reasonable Arrangement retains larger space at thigh inside shank, so as to install various equipment at shank, such as grasps
Make arm etc., so as to improve the function aggregation degree of robot itself.
Brief description of the drawings
Fig. 1 has the wheel leg type Hexapod Robot overall structure diagram of suspension for the present invention；
Fig. 2 is single leg structural representation in wheel leg type Hexapod Robot of the present invention with suspension；
Fig. 3 is hip joint structural representation in wheel leg type Hexapod Robot of the present invention with suspension；
Fig. 4 is suspension structure schematic diagram in wheel leg type Hexapod Robot of the present invention with suspension；
Fig. 5 is cross arm structure schematic diagram in suspension；
Fig. 6 is suspension mounting means schematic diagram in wheel leg type Hexapod Robot of the present invention with suspension；
Fig. 7 has the wheel leg type Hexapod Robot mesopodium end buffer gear structural representation of suspension for the present invention；
Fig. 8 has the wheel leg type Hexapod Robot wheel row mode posture schematic diagram of suspension for the present invention.
In figure：
The mono- leg structure 201- of 1- bodies 2- are with joint
202- hip joint 203- knee joint 204- suspension
205- thigh structure 206- shank structures 207- foots end buffer gear
208- wheeled locomotion mechanisms 201a- is with joint connector 201b- with joint pedestal
201c- is with joint motor 202a- joints pedestal 202b- joint connectors
202c- joint motor 202d- hip joint connector 202e- motor mounting plates
202f- rotating shaft 202g- joint gear A 202h- joint gears B
Connector under 204a- transverse arm 204b- shock absorber 204c- shock absorbers
204d- is with articulated joint 204e- with articulated joint connector 204a1- side arms
204a2- fishplate bar 204a3- lug 204c1- bossings
204d1- connector 204d2- yi word pattern groove 204e1- contact surfaces
204e2- connecting shafts 207a- foot end group seat 207b- buffer springs
207c- foot side poles
Embodiment
The invention will now be described in further detail with reference to the accompanying drawings.
The present invention has the wheel leg type Hexapod Robot of suspension, as shown in figure 1, including body 1 and six single leg knots
Structure 2.Wherein, body 1 is at the double-deck regular hexahedron frame structure being made up of upper strata and lower floor's hexagonal plate, each angle of body 1
As single leg structure installation position, for installing single leg structure 2, then six single leg structures 2 are uniformly installed in the circumference of body 1, entered
And pass through the coordinated movement of various economic factors of six single leg structures 2, it is possible to achieve all direction walking walking of wheel leg type Hexapod Robot of the present invention,
And wheel type mobile.
Above-mentioned single leg structure 2 has three traditional joints, respectively with joint 201, hip joint 202 and knee joint 203, such as
Shown in Fig. 2.Wherein, include with joint 201 with joint connector 201a, with joint pedestal 201b and with joint motor 201c.With
Joint pedestal 201b is the c-type frame structure being made up of back side panel, top plate and bottom plate, parallel between top plate and bottom plate and body 1 to set
Put.It is installed on joint motor 201c with the pedestal 201b of joint, the body end with joint motor 201c is fixed on joint base
On seat 201b bottom plate, output shaft and with fixed between the pedestal 201b top plates of joint, and through top plate.It is used for joint connector real
Now with the connection between joint pedestal 201b and body 1；It is to include upper connector and lower connector with joint connector 201a；Wherein
Upper connector one end and the upper interlayer of body 1 are fixed, and the other end is connected on the output shaft with joint motor 201c by bearing；
Lower connector one end and the lower interlayer of body 1 are fixed, and the other end is connected on the bottom plate with joint pedestal 201b by bearing.By
This, is driven by way of being directly driven with joint motor 201c and is rotated with joint pedestal 201b around vertical Z axis, so as to realize
Single leg structure 2 is rotated around vertical Z axis, while the mode with joint motor 201c this direct drive can improve body 1
Inner space utilization rate.
The hip joint 202 is identical with the structure of knee joint 203, including joint pedestal 202a, joint connector 202b, joint
Motor 202c and joint gear component, as shown in Figure 3.Wherein pedestal 202a in joint has left and right installation board, parallel between the two to set
Put, and pass through the connected positioning of motor mounting plate 202e between front end.Rotating shaft 202f, rotating shaft are installed between left and right installation board rear end
202f axis are set along space Y direction of principal axis, fixed between two ends and left and right installation board, and two ends pass left and right installation board.Joint electricity
Machine 202c is fixed on motor mounting plate 202e, and axis is set along space x-axis, and output shaft is located at through motor mounting plate 202e to close
Save in pedestal 202a.Joint gear component includes joint gear A202g and joint gear B202h, and both are spiral bevel gear；Close
Section gear A 202g is coaxially fixedly installed on rotating shaft 202e, and joint gear B202h is coaxially fixedly installed in joint motor 202c
On, and joint gear A202g and joint gear B202h intermeshings.Also there is hip joint connector in above-mentioned hip joint 202
202d, for hip joint 202 and with the connection between joint 201, hip joint connector 202d is by the left connector of L-type and right connection
The U-shape structure that part is collectively formed；The side of left connector and right connector passes through with rotating shaft 202e two ends in hip joint 202 respectively
Bearing is connected, and rear end is used for connecting with joint 201.
It is above-mentioned with being connected between joint 201 and hip joint 202 by suspension 204, as shown in Fig. 2 suspension 204
For independent suspension system, i.e., the suspension 204 in every single leg structure 2 is separate.As shown in figure 4, suspension 204 is wrapped
Include connector 204c under transverse arm 204a, shock absorber 204b, shock absorber, with articulated joint 204d and with articulated joint connector
204e.As shown in figure 5, there is transverse arm 204a the two side arms 204a1 that is parallel to each other, two side arms 204a1 to be obliquely installed, and with closing
Angle is 0 ° to 25 ° between saving pedestal 201b bottom plate.Two side arms 204a1 bottoms are located at the front portion with joint pedestal 201b, both sides
Arm 204a1 connects to forming one between bottom by fishplate bar 204a2, and top is articulated with after the pedestal 201b of joint by hinged seat
On side plate, the revolute pair around Y-axis is formed.Above-mentioned fishplate bar 204a2 floor designs have two lug 204a3, be respectively intended to connection with
Articulated joint 204d with articulated joint connector 204e.Shock absorber 204b is located at in the pedestal 201b of joint, and positioned at transverse arm
Between 204a two side arms.Shock absorber 204b tops are hinged the revolute pair constituted around Y-axis with the upper surface with joint pedestal 201b；
Shock absorber 204b bottoms are hinged the revolute pair constituted around Y-axis with connector 204c under shock absorber, as shown in fig. 6, connecting under shock absorber
Fitting 204c bottom designs have bossing 204c1, and bossing 204c1 is passed through in transverse arm 204a and opened up on fishplate bar 204a2
Through hole constitute along Z axis prismatic pair.Connect with articulated joint 204d sides for hip joint in plane connecting side, with hip joint 202
Fitting 202d left connector is fixed with right connector bottom；Opposite side with articulated joint 204d is designed with column connector
204d1, connector 204d1 end are provided with the yi word pattern groove 204d2 designed along Y direction, as shown in figure 3, for position with
Articulated joint connector 204e.There is contact surface 204c1 with articulated joint connector 204e top designs, side is designed with contacting
A word projection parallel face 204e1, opposite side is designed with connecting shaft 204e2.It is prominent by a word with articulated joint connector 204e
The yi word pattern groove 204d2 risen with connector 204d1 ends coordinates grafting, realizes with articulated joint connector 204e with being connect with joint
Axially position between head 204d, and further will be with articulated joint connector 204e and with solid between articulated joint 204d by screw
Even.Two connection lug 204a3 of above-mentioned transverse arm 204a bottom designs, are respectively sleeved in connector 204d1 and connecting shaft 204e2
On, and when making single 2 non-stress of leg structure, with connector 204c bottoms under articulated joint connector 204e top contacts and shock absorber
Portion bossing 204c1 fits.Hereby it is achieved that the shock-absorbing of single both direction of leg structure 2, is specially：When the vertical side of single leg structure 2
During to stress, shock absorber 204b, which is pressurized, to produce tension force to outside, and this is to withstand connector 204c under shock absorber, makes its tight
Transverse arm 204a fishplate bar 204a2 is pasted, now the stress of single leg mechanism 2 is transferred to through connector 204c under transverse arm 204a and shock absorber
Shock absorber 204b, by shock absorber 204b shock absorbings.When single leg structure 2 is by lateral impact, has one and rotated around Y-axis
Trend, can now drive with articulated joint 204d and be rotated in the lump with articulated joint connector 204e, and then by with joint
Contact surface at the top of connector 204e pushes up connector 204c under shock absorber and moved up with respect to transverse arm 204a, thus compresses
Shock absorber 204b, by shock absorber 204b shock absorbings.
The hip joint 202 between knee joint 203 by thigh structure 205 with being connected；As shown in Fig. 2 thigh structure 205 has
There is left and right sides thigh plate 205a, be arranged in parallel, rear end connects fixation with the left and right installation board in hip joint 202 respectively；Pass through
The joint motor 202c drivings and the transmission of joint gear component of hip joint 202 rotate hip joint 202, realize thigh structure
205 elevating movement.The front end of thigh structure 205 connects fixation with the left and right installation board rear end in knee joint 203 respectively.Now,
Hip joint 202 and the joint motor 202c diameter parallels in knee joint 203, are respectively positioned on inside thigh structure 205.
Shank structure 206 is connected with above-mentioned knee joint 203, as shown in Fig. 2 shank structure 206 includes the left and right sides
Calf plate 206a, rear end is connected with rotating shaft two ends in knee joint 203 by bearing respectively；Pass through the joint motor of knee joint 203
202c drives and the transmission of joint gear component rotates knee joint 204, realizes the elevating movement of shank structure 206.Shank
The forward end of structure 206 is provided with sufficient end buffer gear 207；The rear end of shank structure 206 is provided with wheeled locomotion mechanism simultaneously
208.Sufficient end buffer gear 207 includes sufficient end group seat 207a, buffer spring 207b and sufficient side pole 207c.Wherein, sufficient end group seat
207a and the calf plate 206a front ends of the left and right sides in shank structure 206 are fixed.Buffer spring is installed in sufficient end group seat 207a
207b, buffer spring 207b one end are enclosed on the boss of sufficient end group seat 207a top designs and positioned, and the other end is enclosed on by sufficient end group
The end for the sufficient side pole 207c that seat 207a bottoms are passed through, the locating shoulder 207d circumferentially designed by sufficient side pole 207c ends determines
Position；Foot side pole 207c is spacing by what is relatively moved between locating shoulder 207d realizations and sufficient end group seat 207a simultaneously.Sufficient side pole
207c front ends are used to contact with ground.In robot gait processes, sufficient side pole 207c is faced its active force by ground, by slow
The elliptical gear can be slowed down by rushing spring 207b compression campaign, so as to realize the buffering effect at the sufficient end of single leg structure 2.
The wheeled locomotion mechanism 208 includes rubber wheel 208a, wheeled connector 208b and wheel motor 208c, such as Fig. 2
It is shown.Wherein, wheeled connector 208b has left side plate, on the outside of the left and right sides calf plate 206a in shank structure 206
It is connected.Wheel motor 208c is installed between wheeled connector 208b left side plate, and axis is set along Y-axis.Rubber wheel 208a is worn
Cross wheel motor 208c and be connected thereto, driven by way of wheel motor 208c is with linear drives and drive rubber wheel 208a
Rotate.
In wheel leg type Hexapod Robot of the present invention, by controlling three joint upper joint motor 202c rotation to control list
The swing and elevating movement of leg structure 2, and then by controlling six legs to realize the complete of robot by certain gait again
Walk in orientation.Meanwhile, by the configuration for changing single leg structure 2 wheeled locomotion mechanism 208 can be made to land, be converted into wheel type mobile
Pattern, as shown in Figure 8；, can be with further by controlling wheel motor 208c rotation and the rotation with joint motor 201c
Advance under robot wheel type mobile pattern is realized, retreat and the move mode such as turns to.Simultaneously can be in machine by suspension 204
The elliptical gear produced by ground between single leg mechanism 2 and body 1 is buffered during device people's walking.
When robot stands still on flat ground, shock absorber 204b can to on the pedestal 201a of joint part and
Transverse arm 204a produces downward thrust, and transverse arm 204a, with being touched with joint pedestal 201a bottoms tap, is formed in the presence of thrust
Mechanical position limitation.When robot stands still, in the presence of shock absorber 204b and mechanical position limitation, it is possible to achieve body 1 and list
The effect of rigid support is formed between leg structure 2, it is ensured that the stabilization of robot midstance.
When in robot gait processes or when robot is stood under rugged ground, due to the barycenter of body 1
Position is change, and the stress of every single leg structure 2 is uneven, and now ground can be produced to some single leg structures 2
The active force of larger moment, because shock absorber 204b is as the support component between the single leg structure 2 of support and body 1, this portion
It is allocated as that firmly shock absorber 204b can be acted on by single leg structure 2 first, at this moment shock absorber 204b spring can be because outer masterpiece
Shunk with lower, the effect of bumper and absorbing shock is played to elliptical gear, so as to reduce external movement impact to robot interior environment shadow
Ring.Simultaneously under rugged ground environment, under being acted on by the independent suspension system 204 of every single leg structure 2, machine can be slowed down
The catastrophe of the position of barycenter in motion process of body 1, it is ensured that the stability of body 1 and thereon load bearing equipment.
When in gait processes of the robot on rugged ground, single leg structure 2 of both sides in robot direction of advance
When colliding barrier when doing oscillating motion, single leg structure 2 can be by direction opposite with direction of advance on a horizontal plane
Elliptical gear, the active force of the impact can produce one perpendicular to direction of advance and from the direction of the outside axle of body 1 to body 1
Torque.The torque can be first acted in suspension 204 by single leg structure 2, and at this moment suspension 204 connects with joint
Head 204d and with articulated joint connector 204e can relative transverse arm 204a rotations, wherein with articulated joint connector 204e rotation
Connector 204c under shock absorber can be driven with respect to transverse arm 204a upward slidings, so that shock absorber 204b, which is produced, shrinks damping, to delay
Rush elliptical gear of the torque to body 1.Meanwhile, during robot normal gait or torque produce elliptical gear terminate
When, shock absorber 204b can produce downward thrust to connector 204c under shock absorber, so as to ensure with articulated joint connector
204e upper surface is fitted with the lower surface of connector 204c under shock absorber, at this time with articulated joint connector 204e and shock-absorbing
Connector 204c is equivalent to being rigidly connected under device, it is ensured that single leg structure 2 does elevating movement in vertical direction all the time.
Robot is in rugged environment during wheel type mobile, and wheeled locomotion mechanism 208 can be by because of ground
The elliptical gear that injustice is produced, the shock absorber 204b effects that this partial action power can pass through in the suspension 204 of single leg structure 2
Under slow down impact, bumper and absorbing shock is played a part of to body 1, it is ensured that robot can still be put down in the case of rugged ground
Steady advance, while ensureing the stability of robot interior environment.
Claims (7)
1. a kind of wheel leg type Hexapod Robot with suspension, including body and six single leg structures；Six single leg mechanisms
It is uniform in body circumference；It is characterized in that：
Single leg structure has with joint, hip joint and knee joint；Wherein, with being connected between joint and body, by motor driving around
Vertical Z axis is rotated；Hip joint with being connected between joint by suspension；Hip joint and knee joint by electric-machine directly-driven, around
Horizontal Y-axis is rotated, and is connected between the two by thigh structure；Knee joint is connected with shank structure end, and shank structure end is also pacified
Equipped with wheeled locomotion mechanism；Shank front end is provided with sufficient end buffer gear；
Above-mentioned suspension includes connector under transverse arm, shock absorber, shock absorber, with articulated joint and with articulated joint connector；
Wherein, at the top of shock absorber and with forming the revolute pair rotated around Y-axis between joint piece；Shock absorber bottom and connector top under shock absorber
The revolute pair rotated around Y-axis is formed between portion；Transverse arm end and with formed between joint around Y-axis rotate revolute pair；Connect under shock absorber
The prismatic pair along Z axis is formed between fitting bottom and transverse arm front end.It is installed on joint connector on hip joint；Connect with articulated joint
Circumferentially opposed positioning between fitting and connector；Transverse arm front end and with joint connector and with formed between articulated joint connector around
The revolute pair that horizontal X axle is rotated；It is above-mentioned with articulated joint top to there is connector bottom protrusion under contact surface, with shock absorber to connect
Touch.
2. a kind of wheel leg type Hexapod Robot with suspension as claimed in claim 1, it is characterised in that：The hip joint
It is identical with knee joint structure, including joint pedestal, joint connector, joint motor and joint gear component；Wherein joint pedestal
With left and right installation board, it be arranged in parallel between the two, and passes through the connected positioning of motor mounting plate between front end；Left and right installation board rear end
Between rotating shaft is installed, shaft axis are set along Y direction, fixed between two ends and left and right installation board, and two ends pass left and right and installed
Plate；Joint motor is fixed on motor mounting plate, and axis is set along X-axis, and output shaft is located at joint pedestal through motor mounting plate
It is interior；Joint gear component includes joint gear A and joint gear B；Joint gear A is coaxially fixedly installed in rotating shaft, joint tooth
Wheel B is coaxially fixedly installed on joint motor, and joint gear A and joint gear B is intermeshed.
3. a kind of wheel leg type Hexapod Robot with suspension as claimed in claim 1, it is characterised in that：Transverse arm has phase
Mutual parallel two side arms, two side arms and be 0 ° to 25 ° with angle between the bottom plate of joint pedestal；Pass through fishplate bar phase between two side arms front end
Connect to form one.
4. a kind of wheel leg type Hexapod Robot with suspension as claimed in claim 1, it is characterised in that：Connect under shock absorber
Fitting bottom design has bossing, and bossing constitutes the prismatic pair along Z axis through the through hole that transverse arm front end is opened up.
5. a kind of wheel leg type Hexapod Robot with suspension as claimed in claim 1, it is characterised in that：With articulated joint
Side is plane connecting side, and hip joint is connected by hip joint connector；Opposite side with articulated joint is designed with connector；With
Articulated joint connector side is designed with connecting shaft；By connector and connecting shaft with the lug sleeve with holes designed between transverse arm end
Connect, form the revolute pair rotated around horizontal X axle.
6. a kind of wheel leg type Hexapod Robot with suspension as claimed in claim 1, it is characterised in that：With articulated joint
On be provided with yi word pattern groove, it is circumferential fixed between the two with being realized with the yi word pattern male cooperation grafting that is designed on articulated joint connector
Position.
7. a kind of wheel leg type Hexapod Robot with suspension as claimed in claim 1, it is characterised in that：Wheel type mobile machine
Structure includes rubber wheel, wheeled connector and wheel motor；Wherein, wheeled connector is installed on the outside of shank structure, wheel motor
It is installed on wheeled connector, axis is set along Y-axis；Rubber wheel is connected through wheel motor and with wheel motor, by wheeled
Motor drives rubber wheel to rotate in the way of linear drives.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710271810.4A CN107140052B (en) | 2017-04-24 | 2017-04-24 | A kind of wheel leg type hexapod robot with suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710271810.4A CN107140052B (en) | 2017-04-24 | 2017-04-24 | A kind of wheel leg type hexapod robot with suspension |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107140052A true CN107140052A (en) | 2017-09-08 |
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| CN107651036A (en) * | 2017-10-10 | 2018-02-02 | 深圳市普渡科技有限公司 | A kind of adjustable robot in chassis |
| CN108089583A (en) * | 2017-12-20 | 2018-05-29 | 中科新松有限公司 | A kind of method and apparatus of multi-foot robot movement transitions |
| CN108238126A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of Lun Zu omnidirectional movings robot |
| CN108340985A (en) * | 2018-04-07 | 2018-07-31 | 吉林大学 | A kind of flexible wheel foot switching mobile platform |
| CN108891501A (en) * | 2018-07-31 | 2018-11-27 | 江西理工大学 | A kind of hexapod robot |
| CN109213160A (en) * | 2018-08-31 | 2019-01-15 | 西南大学 | A kind of field weeding fertilising operation takes turns biped robot more |
| CN109552580A (en) * | 2018-12-26 | 2019-04-02 | 武汉需要智能技术有限公司 | A kind of underwater multi-functional pedipulator |
| 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 |
| CN110209183A (en) * | 2019-06-04 | 2019-09-06 | 吉林大学 | A kind of hexapod robot unstability adjusting algorithm based on dual-threshold voltage ZMP |
| CN110371211A (en) * | 2019-07-08 | 2019-10-25 | 浙江大学 | A kind of sufficient suitching type omni-directional mobile robots of wheel |
| CN110667722A (en) * | 2019-09-26 | 2020-01-10 | 广东省智能制造研究所 | Wheel-foot switching robot based on electro-hydraulic hybrid drive and control system |
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| CN111505009A (en) * | 2020-04-21 | 2020-08-07 | 国网河南省电力公司电力科学研究院 | Power transformer internal fault detection system based on wall-climbing robot |
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| CN112706851A (en) * | 2020-12-24 | 2021-04-27 | 广州市威控机器人有限公司 | Slidable wheel-foot robot and control method thereof |
| CN113232742A (en) * | 2021-06-01 | 2021-08-10 | Oppo广东移动通信有限公司 | Robot and leg assembly thereof |
| CN113602528A (en) * | 2021-08-30 | 2021-11-05 | 吉林大学 | Reconfigurable wheel leg moving device for Mars detection |
| CN113830195A (en) * | 2021-09-30 | 2021-12-24 | 西安文理学院 | Multifunctional foot-variable robot |
| CN113911229A (en) * | 2021-11-04 | 2022-01-11 | 安徽理工大学 | Hexapod robot suitable for different working environments can become cell |
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| CN107651036A (en) * | 2017-10-10 | 2018-02-02 | 深圳市普渡科技有限公司 | A kind of adjustable robot in chassis |
| CN108089583A (en) * | 2017-12-20 | 2018-05-29 | 中科新松有限公司 | A kind of method and apparatus of multi-foot robot movement transitions |
| CN108089583B (en) * | 2017-12-20 | 2020-12-25 | 中科新松有限公司 | Method and device for motion transition of multi-legged robot |
| CN108238126A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of Lun Zu omnidirectional movings robot |
| CN108340985A (en) * | 2018-04-07 | 2018-07-31 | 吉林大学 | A kind of flexible wheel foot switching mobile platform |
| CN108891501A (en) * | 2018-07-31 | 2018-11-27 | 江西理工大学 | A kind of hexapod robot |
| CN109213160B (en) * | 2018-08-31 | 2020-11-24 | 西南大学 | Multi-wheel foot robot for field weeding and fertilizing operation |
| CN109213160A (en) * | 2018-08-31 | 2019-01-15 | 西南大学 | A kind of field weeding fertilising operation takes turns biped robot more |
| CN109552580A (en) * | 2018-12-26 | 2019-04-02 | 武汉需要智能技术有限公司 | A kind of underwater multi-functional pedipulator |
| 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 |
| CN110209183A (en) * | 2019-06-04 | 2019-09-06 | 吉林大学 | A kind of hexapod robot unstability adjusting algorithm based on dual-threshold voltage ZMP |
| CN110371211A (en) * | 2019-07-08 | 2019-10-25 | 浙江大学 | A kind of sufficient suitching type omni-directional mobile robots of wheel |
| CN110667722A (en) * | 2019-09-26 | 2020-01-10 | 广东省智能制造研究所 | Wheel-foot switching robot based on electro-hydraulic hybrid drive and control system |
| CN111071367A (en) * | 2020-03-02 | 2020-04-28 | 秦皇岛达则科技有限公司 | Crawling robot |
| CN111505009A (en) * | 2020-04-21 | 2020-08-07 | 国网河南省电力公司电力科学研究院 | Power transformer internal fault detection system based on wall-climbing robot |
| CN112373594A (en) * | 2020-11-18 | 2021-02-19 | 中国矿业大学 | Wheel-leg hybrid drive type mining metamorphic robot |
| CN112706851A (en) * | 2020-12-24 | 2021-04-27 | 广州市威控机器人有限公司 | Slidable wheel-foot robot and control method thereof |
| CN113232742A (en) * | 2021-06-01 | 2021-08-10 | Oppo广东移动通信有限公司 | Robot and leg assembly thereof |
| CN115432083A (en) * | 2021-06-01 | 2022-12-06 | 广东博智林机器人有限公司 | Mechanical leg and wheel leg foot type robot |
| CN115432083B (en) * | 2021-06-01 | 2023-08-15 | 广东博智林机器人有限公司 | Mechanical leg and wheel leg foot type robot |
| CN113602528A (en) * | 2021-08-30 | 2021-11-05 | 吉林大学 | Reconfigurable wheel leg moving device for Mars detection |
| CN113602528B (en) * | 2021-08-30 | 2024-03-26 | 吉林大学 | Reconfigurable wheel leg moving device for Mars detection |
| CN113830195A (en) * | 2021-09-30 | 2021-12-24 | 西安文理学院 | Multifunctional foot-variable robot |
| CN113911229A (en) * | 2021-11-04 | 2022-01-11 | 安徽理工大学 | Hexapod robot suitable for different working environments can become cell |
| CN113911229B (en) * | 2021-11-04 | 2023-02-28 | 安徽理工大学 | Hexapod robot suitable for different working environments can become cell |
| CN115214817B (en) * | 2022-07-29 | 2023-04-25 | 南京信息工程大学 | Four-foot robot capable of sliding |
| CN115214817A (en) * | 2022-07-29 | 2022-10-21 | 南京信息工程大学 | Slidable quadruped robot |
| CN115303381B (en) * | 2022-09-13 | 2023-06-13 | 哈尔滨工业大学 | High-speed low-energy-consumption hexapod robot based on dead point supporting effect |
| CN115303381A (en) * | 2022-09-13 | 2022-11-08 | 哈尔滨工业大学 | High-speed low-energy-consumption hexapod robot based on dead point supporting effect |
| CN116176726A (en) * | 2023-03-23 | 2023-05-30 | 上海交通大学 | Omnidirectional moving wheel leg robot and motion control method thereof |
| CN116279895A (en) * | 2023-05-05 | 2023-06-23 | 北京航空航天大学 | Multifunctional reconfigurable wheel foot robot |
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