CN108674513B - Variable-configuration wheel leg moving action robot - Google Patents
Variable-configuration wheel leg moving action robot Download PDFInfo
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- CN108674513B CN108674513B CN201810380728.XA CN201810380728A CN108674513B CN 108674513 B CN108674513 B CN 108674513B CN 201810380728 A CN201810380728 A CN 201810380728A CN 108674513 B CN108674513 B CN 108674513B
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- leg
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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Abstract
The invention provides a variable-configuration wheel leg movement robot, which comprises a robot body structure and movable leg groups, wherein one or more movable leg groups are arranged on the robot body structure; the movable leg group comprises one or more movable legs, and the movable leg group can be switched between a roller wheel state and a wheel leg state: in the roller state, a plurality of movable legs are arranged along the circumferential direction; in the wheel-leg state, a plurality of movable legs are arranged in the front-rear direction. The invention can be based on the ground deformation configuration, can pass through unstructured complex terrains in a hexapod configuration, can also pass through continuous and flat terrains in a three-wheel configuration, drives the robot to walk by lifting legs and taking steps, adjusts the step length and the step height, can adapt to the complex terrains, adjusts the toe position and can pass through a short space.
Description
Technical Field
The invention relates to the field of mobile robots, in particular to a variable-configuration wheel leg mobile robot.
Background
In the fields of detection, rescue and the like, the situation that the manpower is difficult to reach or the environment is too dangerous is often met, such as narrow caves, earthquake ruins, fire scenes and the like, and the mobile robot can be used with good effect. The existing robots mainly comprise two types, one type is a roller type, the moving speed is high, but the requirement on road conditions is high; the other is wheel-leg type, which has low requirement on road conditions but slow moving speed. The existing wheel-leg type robot is basically limited to a combined type, a robot with a variable-configuration wheel-leg moving action is lacked, a robot with a roller mode and a wheel-leg mode switched exists in the prior art, but the structures corresponding to the two modes are relatively independent, so that on one hand, the robot has many components, and the overall arrangement is relatively overstaffed; on the other hand, motion interference is easy to generate, and the motion stability is influenced.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide a transformable wheel leg moving robot.
The invention provides a variable-configuration wheel leg movement robot, which comprises a machine body structure and movable leg groups, wherein one or more movable leg groups are arranged on the machine body structure;
the movable leg group comprises one or more movable legs, and the movable leg group can be switched between a roller wheel state and a wheel leg state: in the roller state, a plurality of movable legs are arranged along the circumferential direction; in the wheel-leg state, a plurality of movable legs are arranged in the front-rear direction.
Preferably, the plurality of movable legs comprises a front leg, a middle leg and a rear leg;
the rolling machine body is rotatably arranged on the main body machine body through the arranged rolling main motor; the movable leg groups are arranged on the rolling machine body and correspond to the rolling machine body one to one.
Preferably, the movable leg comprises a support platform, a thigh rod, a crank, a shank rod and a foot;
the thigh rod is rotatably arranged on the supporting platform through a thigh driving motor; the thigh rod is hinged with the foot;
the crank is rotatably arranged on the supporting platform through a shank driving motor; the crank, the shank rod and the foot are hinged in sequence.
Preferably, a rotation driving motor is further installed at any one or more of the following positions:
-on a support contained by the front legs;
-the middle leg comprises a support table;
-a support table included in the rear leg.
Preferably, also includes the bracing piece; one end of the support rod is rotatably arranged on the rolling machine body through a variable configuration motor, and the other end of the support rod is hinged with the rear leg.
Preferably, the main body is further provided with a manipulator;
the manipulator comprises a big arm, a small arm and a gripper which are connected in sequence.
Preferably, the manipulator further comprises a first motor, a second motor, a third motor and a fourth motor;
the big arm is rotated through first motor and is installed on the main part fuselage, and the forearm is rotated through the third motor and is installed on the big arm, and the tongs is rotated through the fourth motor and is installed on the forearm, and the relative axis circumferential direction of second motor drive forearm.
Preferably, the rolling machine also comprises a hoe-shaped rod which is fixedly arranged on the rolling machine body; under the roller state, the axial projection outline of the combination of the movable leg group and the hoe rod is circular.
Preferably, the machine body structure is also provided with a driven wheel.
Preferably, the motor stator included in the variable-configuration motor is tightly installed on the rolling machine body;
the following structures are tightly installed on the rolling machine body:
-a support table comprised by the front leg;
-a support table included in the middle leg.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can pass through unstructured complex terrains in hexapod configuration or continuous and flat terrains in three wheel configuration according to the ground deformation configuration.
2. The robot is driven to walk by lifting legs and stepping, the step length and the step height are adjusted, the robot can adapt to complex terrains, the toe position is adjusted, and the robot can move in a short space.
3. The gravity center inertia of the robot is adjusted in the walking process, so that the robot can obtain better motion performance.
4. Through sensing continuous and flat terrain, six legs of the robot can be changed into two main driving wheels, and the tail end of the mechanical arm grabs a driven wheel from the robot body to provide balance torque required by rolling, so that rapid rolling traveling is realized through the three-wheel configuration.
5. The differential turning of the robot can be realized by changing the speeds of the two rolling main motors.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a perspective view of the system of the present invention;
FIG. 2 is a schematic diagram of a variation of the present invention;
FIG. 3 is a front elevational view of the front leg of the present invention;
FIG. 4 is a side elevational view of the front leg of the present invention;
fig. 5 is a structural view of the robot of the present invention.
The figures show that:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The invention provides a variable-configuration wheel leg movement robot which comprises a machine body structure and movable leg groups, wherein one or more movable leg groups are arranged on the machine body structure. The movable leg group comprises one or more movable legs, and the movable leg group can be switched between a roller wheel state and a wheel leg state: in the roller state, a plurality of movable legs are arranged along the circumferential direction; in the wheel-leg state, a plurality of movable legs are arranged in the front-rear direction. In the using process, the roller state corresponds to that of a roller type robot, and the roller type robot can quickly pass through continuous flat terrain; the wheel-leg state corresponds to a wheel-leg robot, and the wheel-leg robot can pass through unstructured complex terrains.
As shown in fig. 1, in the embodiment, the plurality of movable legs include a front leg 6, a middle leg 7, and a rear leg 8, and are arranged in order of positions in the front-rear direction in the wheel-leg state. The machine body structure comprises a main body machine body 3 and a rolling machine body, wherein the rolling machine body is rotatably arranged on the main body machine body 3 through a main rolling motor 9; the movable leg groups are arranged on the rolling machine body and correspond to the rolling machine body one to one. In the embodiment, two rolling bodies, namely a first rolling body 10 and a second rolling body 11, are arranged on two sides of the main body 3 respectively, and six movable legs are arranged in two rows and parallel to the body structure.
As shown in fig. 3 and 4, the movable leg comprises a support platform 19, a thigh rod 16, a crank 15, a shank rod 17 and a foot part 18, wherein the thigh rod 16 is rotatably mounted on the support platform 19 through a thigh driving motor 13; the thigh rod 16 is hinged with the foot part 18, and the crank 15 is rotatably arranged on the support platform 19 through the arranged shank driving motor 14; the crank 15, the shank 17 and the foot 18 are hinged in sequence. A rotary driving motor 12 is further installed at any one or more of the following positions: a support table 19 included in the front leg 6; a support platform 19 included in the middle leg 7; on a support platform 19 included in the rear leg 8. In the embodiment, the front leg 6 and the rear leg 8 are provided with the thigh drive motor 13, the lower leg drive motor 14 and the rotation drive motor 12, so that the two movable legs comprise three degrees of freedom, while the middle leg 7 is provided with only the thigh drive motor 13 and the lower leg drive motor 14, so that only two degrees of freedom are included. The thigh drive motor 13 and the shank drive motor 14 are used for controlling the contact with the toes, and the rotation drive motor 12 is used for controlling the turning of the base joints of the legs.
The rear leg 8 is also provided with a support rod 5; in the two ends of the support rod 5 along the axial direction, one end of the support rod is rotatably arranged on the rolling machine body through the arranged variable configuration motor 4, and the other end of the support rod is hinged with the rear leg 8. Preferably, the motor stator comprised by the allosteric motor 4 is tightly mounted on the rolling body. The following structures are tightly installed on the rolling machine body: a support table 19 included in the front leg 6; a support platform 19 included in the center leg 7. Preferably, as shown in fig. 2, the rolling machine further comprises a hoe rod 27, the hoe rod 27 is tightly fixed on the rolling machine body, in the rolling machine state, the axial projection outer contour of the combination of the movable leg group and the hoe rod 27 is circular, the combination of the movable leg group and the hoe rod 27 becomes a driving wheel under the driving of the rolling main motor 9, and further preferably, the machine body structure is also provided with a driven wheel 2.
As shown in fig. 5, the main body 3 is further provided with a manipulator 1; the manipulator 1 comprises a large arm 21, a small arm 24 and a gripper 26 which are connected in sequence. The manipulator 1 further comprises a first motor 20, a second motor 22, a third motor 23 and a fourth motor 25, the large arm 21 is rotatably installed on the main body 3 through the first motor 20, the small arm 24 is rotatably installed on the large arm 21 through the third motor 23, the gripper 26 is rotatably installed on the small arm 24 through the fourth motor 25, and the second motor 22 drives the small arm 24 to rotate in the circumferential direction relative to the central axis. The manipulator 1 can work when walking forward, can grab the driven wheel 2 as the support when rolling forward to provide the balancing moment required by rolling, and realize rapid rolling travel with the configuration of three wheels.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (7)
1. A variable-configuration wheel leg moving robot is characterized by comprising a machine body structure and movable leg groups, wherein one or more movable leg groups are arranged on the machine body structure;
the movable leg group comprises a plurality of movable legs, and the movable leg group can be switched between a roller wheel state and a wheel leg state: in the roller state, a plurality of movable legs are arranged along the circumferential direction; under the wheel leg state, a plurality of movable legs are arranged along the front-back direction;
the plurality of movable legs comprise a front leg (6), a middle leg (7) and a rear leg (8);
the machine body structure comprises a main body machine body (3) and a rolling machine body, wherein the rolling machine body is rotatably arranged on the main body machine body (3) through a main rolling motor (9); the movable leg groups are arranged on the rolling machine body and correspond to the rolling machine body one by one;
the movable leg comprises a support platform (19), a thigh rod (16), a crank (15), a shank rod (17) and a foot part (18);
the thigh rod (16) is rotationally arranged on the supporting platform (19) through a thigh driving motor (13); the thigh rod (16) is hinged with the foot part (18);
the crank (15) is rotationally arranged on the support platform (19) through a lower leg driving motor (14); the crank (15), the shank rod (17) and the foot (18) are hinged in sequence;
a rotary driving motor (12) is also arranged at one or more of the following positions:
-on a support table (19) comprised by the front legs (6);
-on a support (19) comprised by the middle leg (7);
-on a support (19) included in the rear leg (8).
2. The transformable wheel-leg-moving robot according to claim 1, further comprising a support rod (5);
in the two ends of the support rod (5) along the axial direction, one end of the support rod is rotatably arranged on the rolling machine body through a variable configuration motor (4), and the other end of the support rod is hinged with the rear leg (8).
3. The transformable wheel leg movement robot according to claim 2, wherein a manipulator (1) is further provided on the main body (3);
the manipulator (1) comprises a large arm (21), a small arm (24) and a gripper (26) which are connected in sequence.
4. The configuration-changing wheel-leg-moving robot according to claim 3, characterized in that the robot arm (1) further comprises a first motor (20), a second motor (22), a third motor (23) and a fourth motor (25);
big arm (21) are rotated through first motor (20) and are installed on main part fuselage (3), and forearm (24) are rotated through third motor (23) and are installed on big arm (21), and tongs (26) are rotated through fourth motor (25) and are installed on forearm (24), and relative axis circumferential direction of second motor (22) drive forearm (24).
5. The reconfigurable wheel-leg-moving robot according to claim 1, further comprising a hoe rod (27), wherein the hoe rod (27) is tightly mounted on the rolling body; under the roller state, the axial projection outline of the combination of the movable leg group and the hoe rod (27) is circular.
6. A robot according to claim 5, characterized in that the body structure is further provided with a driven wheel (2).
7. An reconfigurable wheel-leg-moving robot according to claim 2, characterized in that the reconfigurable motor (4) comprises a motor stator tightly mounted on the rolling body;
the following structures are tightly installed on the rolling machine body:
-a support table (19) comprised by the front leg (6);
-a support table (19) comprised by the middle leg (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810380728.XA CN108674513B (en) | 2018-04-25 | 2018-04-25 | Variable-configuration wheel leg moving action robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810380728.XA CN108674513B (en) | 2018-04-25 | 2018-04-25 | Variable-configuration wheel leg moving action robot |
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| Publication Number | Publication Date |
|---|---|
| CN108674513A CN108674513A (en) | 2018-10-19 |
| CN108674513B true CN108674513B (en) | 2020-05-15 |
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| CN201810380728.XA Active CN108674513B (en) | 2018-04-25 | 2018-04-25 | Variable-configuration wheel leg moving action robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001813B (en) * | 2019-04-19 | 2021-06-15 | 常州大学 | Single-foot driven robot leg capable of rolling friction and sliding simultaneously |
| CN111497960A (en) * | 2020-05-12 | 2020-08-07 | 中国科学院沈阳自动化研究所 | Wheel step self-adaptive variable-configuration mobile robot |
| CN111846001B (en) * | 2020-07-30 | 2022-03-01 | 上海交通大学 | Wheel-leg variable-structure robot |
| CN114084244A (en) * | 2021-11-30 | 2022-02-25 | 上海交通大学 | Spider-imitating wheel-leg integrated robot |
| CN117340887B (en) * | 2023-11-16 | 2024-05-17 | 泰州学院 | Computer remote operation robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7017687B1 (en) * | 2002-11-21 | 2006-03-28 | Sarcos Investments Lc | Reconfigurable articulated leg and wheel |
| CN104960379B (en) * | 2015-05-25 | 2017-11-10 | 上海交通大学 | Three mode deformation wheels |
| CN106004281B (en) * | 2016-05-24 | 2018-01-12 | 西北工业大学 | A kind of amphibious multi-locomotion mode robot |
| CN107264665A (en) * | 2017-06-07 | 2017-10-20 | 宋天钰 | A kind of conversion movable robot with wheel legs of passive adaptation Service Environment |
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| CN108674513A (en) | 2018-10-19 |
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