CN107902006B - Wheel leg type all-terrain active/passive attitude adjusting robot - Google Patents
Wheel leg type all-terrain active/passive attitude adjusting robot Download PDFInfo
- Publication number
- CN107902006B CN107902006B CN201711105290.6A CN201711105290A CN107902006B CN 107902006 B CN107902006 B CN 107902006B CN 201711105290 A CN201711105290 A CN 201711105290A CN 107902006 B CN107902006 B CN 107902006B
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- robot
- suspension
- control arm
- wheel
- tripod
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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
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
- B60G7/02—Attaching arms to sprung part of vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/14—Mounting of suspension arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
- Manipulator (AREA)
Abstract
A wheel-leg type all-terrain active/passive attitude adjusting robot comprises a robot body, a radar system arranged on the robot body, and four robot single legs which are symmetrically arranged on the robot body in a front-back and left-right manner, wherein each robot single leg comprises an actuator, a tripod connected with the actuator, a damping spring connected with the tripod, a double-wishbone suspension connected with the damping spring, a steering motor connected with the double-wishbone suspension, wheel legs connected with the steering motor, and a driving wheel with a hub motor connected with the wheel legs, the lower corner of the tripod is connected with the robot body, two upper corners of the tripod are respectively connected with the actuator and the damping spring, the double-cross-arm suspension comprises a suspension upper control arm and a suspension lower control arm, one end of the suspension upper control arm and one end of the suspension lower control arm are hinged to the side face of the robot body, the other end of the suspension upper control arm and the other end of the suspension lower control arm are hinged to the steering motor, and the damping spring is connected with the suspension upper control arm. The robot can realize 360-degree dead-angle-free steering, and switching of active/passive attitude adjustment modes of the robot is realized.
Description
Technical Field
The invention relates to a wheel-leg type all-terrain mobile robot, in particular to a wheel-leg type all-terrain active/passive attitude adjusting robot with excellent dynamic running smoothness.
Technical Field
The typical wheel-leg robot has American ATH L ETE, Japanese Roller-Walker, A L DURO, Halluc-II, Poland L egVan, traditional wheel-leg robots mostly arrange motors at joints, the research is mainly focused on the aspects of active posture adjustment, obstacle crossing performance and the like, researchers gradually realize the defects of the traditional wheel-leg robots with the deepening of the research of the wheel-leg robots in recent years, for example, the problems of concentrated load at the joints, difficult control of stability, poor smoothness performance and the like, in order to solve the problems, the researchers need to consider more in the design of the wheel-leg robots in the aspects of driving smoothness and steering stability, the researches on the smoothness of the automobile body, and researches on the suspension of the novel wheel-leg robot based on the current concept of the research of the vehicle and the improvement of the stability of the robot.
Disclosure of Invention
The invention aims to provide a wheel-leg type all-terrain active/passive attitude adjusting robot which has excellent dynamic running smoothness, can realize 360-degree dead-angle-free steering by adopting a four-wheel drive mode, and can realize switching of an active/passive attitude adjusting mode of the robot.
The purpose of the invention is realized as follows: a wheel-leg type all-terrain active/passive attitude adjusting robot comprises a robot body, a radar system arranged on the robot body, and four robot single legs which are symmetrically arranged on the robot body in a front-back and left-right manner, wherein each robot single leg comprises an actuator, a tripod connected with the actuator, a damping spring connected with the tripod, a double-wishbone suspension connected with the damping spring, a steering motor connected with the double-wishbone suspension, a wheel leg connected with the steering motor, and a driving wheel with a hub motor connected with the wheel leg, the lower corner of the tripod is connected with the robot body, the upper two corners of the tripod are respectively connected with the actuator and the damping spring, the double-wishbone suspension comprises an upper suspension control arm and a lower suspension control arm, one end of the upper suspension control arm and one end of the lower suspension control arm are hinged with the side surface of the robot body, and the other end of the, the damping spring is connected with a control arm on the suspension.
The invention has the advantages and technical effects that:
(1) the four-wheel drive mode is adopted, 360-degree dead-angle-free steering can be realized, and when the longitudinal driving direction meets the condition that the vehicle cannot exceed obstacles and is deeply sunk (such as a muddy road), the driving direction can be switched, so that the obstacles are eliminated.
(2) The invention adopts the wheel leg mechanism, has the advantages of strong adaptability, good maneuvering performance and the like, and has the advantage of being much more and more thick in the fields of military investigation, resource exploration and the like.
(3) The invention is based on the disciplinary crossing idea, introduces the automobile suspension system into the design of the wheel-leg type all-terrain robot for the first time, and has very strong practical significance.
(4) The invention can realize the switching of the active/passive posture adjustment mode of the robot, when the road condition is not good, the actuator can be synchronously adjusted to work according to the road condition predicted by the radar, the posture adjustment is realized, the good driving smoothness is ensured, and the robot is actively adjusted in posture; when the robot runs under a good road condition, the actuator does not work, and the good running smoothness can be ensured by utilizing the specific spring damping suspension system of the robot. At this time, the robot is passively attitude-adjusted.
(5) The upper control arm of the suspension provided by the invention adopts a triangular structure design, and the strength of the suspension system provided by the invention is effectively improved by utilizing the inherent stability characteristic of the triangle.
(6) When the actuator works, the tripod shown in fig. 2 can transmit the control force of the actuator to the damping spring in a mode of amplifying by 1.2 times, so that the design has the advantages that the active adjustment of the posture of the car body can be realized by using smaller control force, and the energy utilization rate is improved.
(7) The wheel-leg type all-terrain mobile robot provided by the invention can respectively lift 2.334%, 17.383% and 0.595% in three running smoothness performance indexes of vehicle body acceleration, suspension dynamic travel and tire dynamic load relative to a passive mode in an active attitude adjustment mode.
Drawings
Fig. 1 is a schematic view of the overall structure of the robot of the present invention.
Fig. 2 is a partial enlarged structural schematic diagram of a single leg of the robot in fig. 1.
Fig. 3 is an enlarged view of the double wishbone suspension.
Detailed Description
The invention relates to the following specific embodiments:
shown in figure 1: a wheel-leg type all-terrain active/passive attitude adjusting robot comprises a robot body 1, a radar system 2 arranged on the robot body 1, and four robot single legs 3 symmetrically arranged on the robot body 1 in a front-back and left-right manner, wherein each robot single leg 3 comprises an actuator 3-1, a tripod 3-2 connected with the actuator 3-1, a damping spring 3-2 connected with the tripod 3-1, a double-wishbone suspension 3-4 connected with the damping spring 3-3, a steering motor 3-5 connected with the double-wishbone suspension 3-4, a wheel leg 3-6 connected with the steering motor 3-5, a driving wheel 3-8 connected with the wheel leg 3-6 and provided with a wheel hub motor 3-7, the lower corner of the tripod 3-2 is connected with the robot body 1, and the lower corner of the robot body is connected with the driving wheel 3-8, The upper two angles are respectively connected with an actuator 3-1 and a damping spring 3-3, the double-wishbone suspension 3-4 comprises a suspension upper control arm 3-4-1 and a suspension lower control arm 3-4-2 (figure 3), one end of the suspension upper control arm 3-4-1 and one end of the suspension lower control arm 3-4-2 are hinged with the side face of the robot body 1, the other end of the suspension upper control arm 3-4-1 and the other end of the suspension lower control arm 3-4-2 are hinged with a steering motor 3-5, and the damping spring 3-3 is connected with the suspension upper control arm 3-4-1.
FIG. 2 shows: the actuator 3-1 is connected with the robot body 1 in a hinged mode through an ear piece, the actuator 3-1 is connected with the tripod 3-2 in a hinged mode, the tripod 3-2 is connected with the damping spring 3-3 in a hinged mode, the damping spring 3-3 is connected with the lower control arm 3-4-2 of the suspension in a hinged mode, the double-wishbone suspension 3-4 is connected with the robot body 1 in a hinged mode, the corresponding ear piece and the part are welded, and the radar system 2 is connected with the robot body 1 through a bolt.
The robot is provided with a radar system 2 and has the functions of four-wheel steering, active/passive attitude adjustment, four-wheel driving and the like, the designed robot adopts a left-right and front-back symmetrical structure, the overall size is 1200mm × 600mm × 600mm, and the robot is typically characterized in that automobile suspension elements are added, and the specific structure is shown in figure 2.
The invention adopts a four-wheel drive mode, and the specific implementation mode is that the hub motors 3-7 are arranged on each driving wheel, the hub motors 7-7 are connected with the wheels by bolts, and the connection mode of the hub motors 3-7 and the wheel legs 3-6 is also bolt connection;
the four-wheel steering function is that the steering motor 3-5 drives the wheel legs 3-6 to rotate so as to drive the driving wheels 3-8 to realize steering, a speed reducer is arranged in the steering motor 3-5 to ensure that the steering speed is not too high so as to improve the operation stability, and the four-wheel steering can realize 360-degree dead-angle-free steering.
The active posture adjustment is realized by driving a tripod 3-2 to rotate through an actuator 3-1 and transmitting control force to a lower control arm 3-4-2 of a suspension through secondary transmission of the tripod 3-2 and a damping spring 3-2.
The invention can realize the switching of the active/passive posture adjustment mode of the robot, when the road condition is not good, the actuator 3-1 can be synchronously adjusted to work according to the road condition predicted by the radar system 2, the posture adjustment is realized, the excellent driving smoothness is ensured, and the robot is actively adjusted in posture; when the robot runs under a good road condition, the actuator 3-1 does not work, and good running smoothness can be ensured by utilizing a special spring damping suspension system of the robot. At this time, the robot is passively attitude-adjusted. Four actuators are arranged on the whole vehicle, so that multi-angle active posture adjustment in pitching and rolling ranges can be realized, and excellent obstacle crossing and driving smoothness are realized.
The battery and the control module according to the present invention are integrated in the robot body 1, which is not the focus of the present invention, and therefore, they will not be described in detail.
Claims (2)
1. The utility model provides a wheel-legged active/passive attitude adjustment robot in all topography which characterized in that: the robot comprises a robot body (1), a radar system (2) arranged on the robot body (1), and four robot single legs (3) which are symmetrically arranged on the robot body (1) in the front-back and left-right directions, wherein each robot single leg (3) comprises an actuator (3-1), a tripod (3-2) connected with the actuator (3-1), a damping spring (3-3) connected with the tripod (3-2), a double-wishbone suspension (3-4) connected with the damping spring (3-3), a steering motor (3-5) connected with the double-wishbone suspension (3-4), wheel legs (3-6) connected with the steering motor (3-5), and a driving wheel (3-8) which is connected with the wheel legs (3-6) and is provided with a hub motor (3-7), the lower corner of the tripod (3-2) is connected with the robot body (1), the upper two corners of the tripod are respectively connected with the actuator (3-1) and the damping spring (3-3), the double-wishbone suspension (3-4-1) comprises an upper suspension control arm (3-4-1) and a lower suspension control arm (3-4-2), one end of the upper suspension control arm (3-4-1) and one end of the lower suspension control arm (3-4-2) are hinged to the side face of the robot body (1), the other end of the upper suspension control arm and the other end of the lower suspension control arm are hinged to the steering motor (3-5), and the damping spring (3-3) is connected with the upper suspension control arm (3-4-1).
2. The wheel-legged all-terrain active/passive attitude adjustment robot according to claim 1, characterized in that: the actuator (3-1) is connected with the robot body (1) in a hinged mode through an ear piece, the actuator (3-1) is connected with the tripod (3-2) in a hinged mode, the tripod (3-2) is connected with the damping spring (3-3) in a hinged mode, the damping spring (3-3) is connected with the lower control arm (3-4-2) of the suspension in a hinged mode, the double-wishbone suspension (3-4) is connected with the robot body (1) in a hinged mode, the corresponding ear piece and the corresponding part are welded, and the radar system (2) is connected with the robot body (1) through a bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711105290.6A CN107902006B (en) | 2017-11-10 | 2017-11-10 | Wheel leg type all-terrain active/passive attitude adjusting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711105290.6A CN107902006B (en) | 2017-11-10 | 2017-11-10 | Wheel leg type all-terrain active/passive attitude adjusting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107902006A CN107902006A (en) | 2018-04-13 |
| CN107902006B true CN107902006B (en) | 2020-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711105290.6A Expired - Fee Related CN107902006B (en) | 2017-11-10 | 2017-11-10 | Wheel leg type all-terrain active/passive attitude adjusting robot |
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| Country | Link |
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| CN108058755B (en) * | 2017-12-04 | 2020-09-25 | 吉林大学 | Double-triangular suspension wheel leg type all-terrain mobile robot |
| CN108891219B (en) * | 2018-07-13 | 2021-08-20 | 太原科技大学 | MR imitates kangaroo leg suspension |
| CN109109589A (en) * | 2018-07-26 | 2019-01-01 | 苏州仓格汽车科技有限公司 | A kind of full landform carrying platform of wheel leg type |
| CN109515087B (en) * | 2018-11-02 | 2021-09-14 | 吉林大学 | All-terrain mobile robot with active independent suspension system |
| CN109515553B (en) * | 2018-12-04 | 2020-08-04 | 深圳前海达闼云端智能科技有限公司 | Transport robot and vehicle body thereof |
| CN110254551A (en) * | 2019-07-16 | 2019-09-20 | 南京农业大学 | A kind of structure changes plant phenotype detection mobile robot |
| CN111098948A (en) * | 2019-12-11 | 2020-05-05 | 中国飞机强度研究所 | Leg wheel type automobile walking mechanism and control method |
| DE102020123401A1 (en) | 2020-09-08 | 2022-03-10 | Schaeffler Technologies AG & Co. KG | Wheel module for a vehicle, vehicle with the wheel module and method for expanding a steering angle |
| CN114179110A (en) * | 2021-12-31 | 2022-03-15 | 国家石油天然气管网集团有限公司 | Inspection robot |
| CN115091910A (en) * | 2022-08-24 | 2022-09-23 | 中铁工程服务有限公司 | Inspection robot chassis based on full steering technology and moving method |
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| US4266627A (en) * | 1978-02-22 | 1981-05-12 | Willy Habegger | Traveling assembly and wheel suspension for a rolling and stepping vehicle |
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| CN104229160A (en) * | 2014-10-15 | 2014-12-24 | 哈尔滨工业大学 | Four-wheel moving system for manned lunar vehicle |
| CN105620572A (en) * | 2016-04-01 | 2016-06-01 | 安徽理工大学 | Omni-directional movement mechanism for service robot |
| CN107124899A (en) * | 2016-07-15 | 2017-09-01 | 深圳市大疆创新科技有限公司 | Movable fixture, follow shot equipment, movable fixture control system and method |
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2017
- 2017-11-10 CN CN201711105290.6A patent/CN107902006B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4266627A (en) * | 1978-02-22 | 1981-05-12 | Willy Habegger | Traveling assembly and wheel suspension for a rolling and stepping vehicle |
| CN101214833A (en) * | 2008-01-09 | 2008-07-09 | 湖南大学 | Initiatively rocking arm variable diamond-type four-wheel lunar rover moving system |
| CN102490911A (en) * | 2011-12-16 | 2012-06-13 | 大连理工大学 | Lunar surface walking device for lunar rover |
| CN102963455A (en) * | 2012-11-12 | 2013-03-13 | 上海交通大学 | Pull rod type suspended robot wheel leg walking mechanism |
| CN104229160A (en) * | 2014-10-15 | 2014-12-24 | 哈尔滨工业大学 | Four-wheel moving system for manned lunar vehicle |
| CN105620572A (en) * | 2016-04-01 | 2016-06-01 | 安徽理工大学 | Omni-directional movement mechanism for service robot |
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| Publication number | Publication date |
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| CN107902006A (en) | 2018-04-13 |
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