CN109733496A - The sufficient wheel leg transform autonomous robot of one kind six - Google Patents
The sufficient wheel leg transform autonomous robot of one kind six Download PDFInfo
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- CN109733496A CN109733496A CN201811454475.2A CN201811454475A CN109733496A CN 109733496 A CN109733496 A CN 109733496A CN 201811454475 A CN201811454475 A CN 201811454475A CN 109733496 A CN109733496 A CN 109733496A
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Abstract
The invention belongs to polypody mobile robot technology fields, disclose the sufficient wheel leg transform autonomous robot of one kind six, using the wheel leg integral structure configuration of serial-parallel mirror, each series connection supporting leg is equipped with swing arm, large arm, damping device, the hub motor module with self-locking function, wheel apparatus is rolled, six identical supporting leg parallel connections form described novel six sufficient wheel leg transform autonomous robots.The way of realization of each supporting leg is that forearm is connected by rotating electric machine control with fuselage, drives the rotation of large arm, realizes the swing of leg；The rotating electric machine control that was connected of forearm and large arm realizes that robot turns to；The movement of large arm is that electric cylinders stretch out retraction, is connected by damper with hub motor module to adjust the length of whole supporting leg；Hub motor module is connected with wheel, realizes the rotation of wheel by motor and self-locking module and locks.The present invention can carry radar antenna, camera, night vision device, the equipment such as unmanned plane capturing system by carrier of fuselage；It has the advantages of simple structure and easy realization.
Description
Technical field
The invention belongs to polypody mobile robot technology fields, more particularly to the sufficient wheel leg transform autonomous machine of one kind six
People.
Background technique
Currently, technical description commonly used in the trade is as follows: with the development and progress of society, more and more robots are used for
Danger, in complicated working environment work.Mobile robot is broadly divided into legged mobile robot and wheeled robot at present.Leg formula machine
The advantages of device people, is that landform is adaptable, can clear the jumps or climb wide-angle slope；The disadvantage is that wheel efficiency
It is relatively low.The advantages of wheeled robot, is that the speed of travel is fast, and capacity usage ratio is high, has a wide range of application；The disadvantage is that wheeled construction
Adaptability under complex environment is poor, will receive limitation under the uneven soft environment such as sand ground.Wheel-leg combined type
Robot then comes into being, it is a kind of Novel movable robot formed by the different combinations of leg and wheel.Wheel leg
Formula robot has merged the advantages of both robots, has very strong landform adaptability and obstacle climbing ability, has relatively high
Capacity usage ratio and very big stability, largely compensating for can respective deficiency.Existing leg-wheel robot is big
It is mostly the switching of wheel leg to be realized by the deformation of leg, such as by using the mode of leg folding, first to stretch leg in climbing
Expansion comes, then with the walking form for using leg, this is invisible in the actual operation process to increase single stepping, is unfavorable for promptly
In the case of wheel leg transformation and wide-angle climbing during leg and wheel joint action, matching for leg-wheel robot wheel leg can be made
Efficiency is closed to be lower.It, can so there is no what now at present for the research that leg-wheel robot is to wheel leg type integral structure
Direct applied scheme.
In conclusion problem of the existing technology is: existing leg-wheel robot realizes wheel leg by the deformation of leg
Switching, intangibly increase operation in actual mechanical process, be unfavorable for wheel leg transformation in emergency circumstances and climbed in wide-angle
The joint action of leg and wheel during slope；The cooperation efficiency of leg-wheel robot wheel leg is set to be lower.
Solve the difficulty and meaning of above-mentioned technical problem:
(1) multi-foot robot is to prevent whole disequilibrium in the process of walking, the gait control that high efficiency moves forward
Mode, and utilize the control algolithm by gravity walking.
(2) design for changing the wheel leg integral structure for realizing wheel leg transformation by no configuration is realized.To reach tight in road conditions
The form moment that wheel drives forwards when the situation of the sudden turn of events is switched to the form that driving leg is taken a step forward, in wide-angle climbing
It can realize that wheel leg switches without changing configuration, achieve the purpose that high efficiency is jointly acted.
Summary of the invention
In view of the problems of the existing technology, the present invention provides the sufficient wheel leg transform autonomous robots of one kind six.
The invention is realized in this way the sufficient wheel leg transform autonomous robot system of one kind six, described six sufficient wheel leg transformation
Formula autonomous robot system use serial-parallel mirror wheel leg integral structure configuration, each series connection supporting leg be equipped with swing arm, large arm,
Damping device, the hub motor module with self-locking function roll wheel apparatus, and six identical supporting leg parallel connections form described novel six
Sufficient wheel leg transform autonomous robot.
Further, the way of realization of each supporting leg is that forearm is connected by rotating electric machine control with fuselage, is driven big
The swing of leg is realized in the rotation of arm；
The rotating electric machine control that was connected of forearm and large arm realizes that robot turns to；The movement of large arm is that electric cylinders stretch out contracting
It returns, is connected by damper with hub motor module to adjust the length of whole supporting leg；
Hub motor module is connected with wheel, by motor and the self-locking rotation for realizing wheel and locks.
Further, the axial rotate driving of supporting leg of connecting is arranged close to one end of fuselage.
The six of described six sufficient wheel leg transform autonomous robot systems are realized another object of the present invention is to provide a kind of
Sufficient wheel leg transform autonomous robot, described six sufficient wheel leg transform autonomous robots are provided with
Fuselage；
The left side of fuselage is embedded with whip antenna, and there are six forearm, forearm and large arm axis connections for the bottom installation of fuselage, greatly
The bottom of arm is equipped with damper, and the bottom of damper is equipped with wheel；Wheel and hub motor module axis connection；
The front end of fuselage is equipped with camera, and the back of camera is antenna base, is equipped with antenna array on antenna base
Face.
Further, hub motor installation site is equipped with hub motor module, and large arm passes through large arm extension bar and damper
Connection, large arm extension bar stretch out motor reel with large arm and connect, and large arm top is large arm axial direction rotate driving position, the top of forearm
Hold forearm oscillating motor installation site.
Another object of the present invention is to provide a kind of cartwheel rolls using described six sufficient wheel leg transform autonomous robots
Dynamic formula robot.
Another object of the present invention is to provide a kind of walkings using described six sufficient wheel leg transform autonomous robots
Robot.
Another object of the present invention is to provide a kind of wheel leg using described six sufficient wheel leg transform autonomous robots is mutual
Change climbing robot.
In conclusion advantages of the present invention and good effect are as follows: the present invention improves the existence of robot in complex situations
Ability improves its mobility and adaptability, and maximum travel speed reaches 10km/h, and maximum ramp angle can reach 60 °, can fit
Answer normal road condition, sand ground etc. rough road conditions.Bearing capacity of the invention is improved by the way of in parallel, maximum is held
Loading capability can reach 80kg.Carrier can carry radar antenna, camera, the equipment such as night vision device, the configuration of the present invention is simple, weight
30% is reduced compared with prior art, energy conservation 20%.It is easily achieved, moderate cost, existing good mobility, and has good adaptation
Property, real work is high-efficient.
Detailed description of the invention
Fig. 1 is provided in an embodiment of the present invention six sufficient wheel leg transform autonomous robot structural schematic diagrams；
Fig. 2 is wheel leg integral structure schematic diagram provided in an embodiment of the present invention；
Fig. 3 is ant gait schematic diagram provided in an embodiment of the present invention；
In figure: 1, wheel；2, damper；3, large arm (electric cylinders)；4, forearm；5, fuselage；6, whip antenna；7, antenna array
Face；8, antenna base；9, camera；10, hub motor module；11, hub motor installation site；12, large arm extension bar；13,
Large arm motor；14, large arm axial direction rotate driving position；15, forearm oscillating motor installation site.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The switching of wheel leg is realized by the deformation of leg for existing leg-wheel robot, it is invisible in actual mechanical process
Increase operation, be unfavorable for wheel leg transformation in emergency circumstances and during wide-angle climbing the joint action of leg and wheel ask
Topic；There are three types of move modes by the present invention: being fast forwarded through under the simple scenarios such as evenness of road surface using six wheel rollings；In complexity
When road surface is advanced, six sufficient walking manners are converted to by scroll wheel is self-locking；Cooperation is converted mutually using wheel leg in wide-angle climbing
Mode advance.
Application principle of the invention is explained in detail with reference to the accompanying drawing.
As shown in Figure 1, provided in an embodiment of the present invention six sufficient wheel leg transform autonomous robots include: wheel 1, damper
2, large arm (electric cylinders) 3, forearm 4, fuselage 5, whip antenna 6, antenna array 7, antenna base 8, camera 9, hub motor module
10, hub motor installation site 11, large arm extension bar 12, large arm stretch out motor 13, large arm axial direction rotate driving position 14, small
Arm swing mounting position of motor 15.
The left side of fuselage 5 is embedded with whip antenna 6, and there are six forearm 4, forearm 4 and 3 axis of large arm for the bottom installation of fuselage 5
Connection, the bottom of large arm 3 are equipped with damper 2, and the bottom of damper 2 is equipped with wheel 1；Wheel 1 and hub motor module 10
Axis connection.
The front end of fuselage 5 is equipped with camera 9, and the back of camera 9 is antenna base 8, is equipped with day on antenna base 8
Linear array face 7.
Hub motor installation site 11 is equipped with hub motor module 10, and large arm 3 passes through large arm extension bar 12 and damper 2
Connection, large arm extension bar 12 and large arm stretch out 13 axis connection of motor, and 3 top of large arm (electric cylinders) is large arm axial direction rotate driving position
14 are set, the top of forearm 4 is forearm oscillating motor installation site 15.
In a preferred embodiment of the invention, the way of realization of wheel leg integral structure configuration of the invention is to be responsible for forward
The forearm 4 of swing is connected on fuselage 4 by forearm oscillating motor 15；Large arm 3 and forearm 4 pass through large arm axial direction rotate driving 14
The steering of described six sufficient wheel leg transform autonomous robots is responsible in connection；Large arm stretches out the stretching and contracting that motor 13 is responsible for large arm 3
The short length variation to realize leg；Extension bar in large arm 3 is connected with damper 2 plays the role of damping；Stretching in large arm 3
Rod is connected with hub motor module 10；Hub motor module 10 is realized the rotation of wheel 1 and is locked.
Provided in an embodiment of the present invention six sufficient wheel leg transform autonomous robots carry out road conditions by the camera of front end
It acquires in real time, novel six sufficient wheel leg transform autonomous robots described in autonomous control.
Application principle of the invention is further described combined with specific embodiments below.
Embodiment 1:
On the preferable road surface of road conditions, by the way of using wheel 1 six, rolls forward is fast forwarded through together, two of front end
Wheel is responsible for turning to for task.
Embodiment 2: by the acquisition of camera 9, if judging is the complex road conditions such as soft sand ground, then bionical ant is used
The mesopodium of the gait control of ant, i.e., the front foot of every side, metapedes and the other side separately constitutes two groups of triangles, takes a step every time and obstacle detouring
When, before one group of triangle in after large arm 4 swing forward, electric cylinders stretching is contacted to earth, and realizes the paces striden forward, another group of triangle
Shape just supports body, keeps one's balance, and three leg large arm 4 of first group of triangle are dynamic to backswing, and electric cylinders retract at the same time,
While carrying out this movement before second group of triangle in after large arm 4 swing forward, electric cylinders stretching contact to earth.It is real to repeat above procedure
It is now forward to take a step to advance.
Embodiment 3: when carrying out such as 60 degree of wide-angle climbing, two front foots are swung forwards to specified angle, vehicle body
It is moved forward in the case where four driving leg drivings later and arrives to slope surface.Start to climb, mesopodium during forward movement,
Metapedes, which swings backward and is elongated to suitable length, touches slope surface, and the center of the robot is maintained at horizontal position, shape
Cheng Zhonghou four-footed drives forwards, and forefoot support keeps the mode of balance to advance forward.When fast arrival top of the slope, front foot wheel 1 is locked,
It is taken off forward by the swing of large arm 4, mesopodium is shunk, and is driven metapedes to move forward, is realized the climbing of wide-angle.
The present invention is a kind of structure of serial-parallel mirror, and every supporting leg, which is realized, to be rotated left and right, front and back rotation, axial stretching, vehicle
Take turns the function of rotation.The simple road conditions of described novel six sufficient wheel leg transform autonomous robots are completed in six identical supporting leg parallel connections
Fast move, the Bionic Ant gait of complex road condition is mobile, and the mode that wheel leg when wide-angle is climbed mutually converts cooperation is moved
It is dynamic, have adaptable, mobile steady, structure is simple, the advantages such as easily controllable.And the form of six leg parallel connections increases
The bearing capacity of fuselage is added.It can allow small size antenna radar, night vision device, the equipment such as camera, unmanned plane capturing system.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (8)
1. the sufficient wheel leg transform autonomous robot system of one kind six, which is characterized in that described six sufficient wheel leg transform autonomous machines
People's system uses the wheel leg integral structure configuration of serial-parallel mirror；Each series connection supporting leg is equipped with swing arm, large arm, damping device,
Hub motor module with self-locking function rolls wheel apparatus；Six identical supporting leg parallel connections constitute novel six sufficient wheel leg transforms
Autonomous robot.
2. as described in claim 1 six sufficient wheel leg transform autonomous robot systems, which is characterized in that the reality of each supporting leg
Existing form is that forearm is connected by rotating electric machine control with fuselage, drives the rotation of large arm, realizes the swing of leg；
The rotating electric machine control that was connected of forearm and large arm realizes that robot turns to；The movement of large arm is that electric cylinders stretch out retraction,
It is connected by damper with hub motor module to adjust the length of whole supporting leg；
Hub motor module is connected with wheel, by motor and the self-locking rotation for realizing wheel and locks.
3. as described in claim 1 six sufficient wheel leg transform autonomous robot systems, which is characterized in that the axial direction for supporting leg of connecting
Rotate driving is arranged close to one end of fuselage.
4. a kind of six sufficient wheel leg transforms for realizing described in claim 1 six sufficient wheel leg transform autonomous robot systems are from host
Device people, which is characterized in that described six sufficient wheel leg transform autonomous robots are provided with
Fuselage；
The left side of fuselage is embedded with whip antenna, there are six the bottom installations of fuselage forearm, forearm and large arm axis connection, large arm
Bottom is equipped with damper, and the bottom of damper is equipped with wheel；Wheel and hub motor module axis connection；
The front end of fuselage is equipped with camera, and the back of camera is antenna base, is equipped with antenna array on antenna base.
5. as claimed in claim 4 six sufficient wheel leg transform autonomous robots, which is characterized in that hub motor installation site peace
Equipped with hub motor module, large arm is connect by large arm extension bar with damper, and large arm extension bar and large arm stretch out motor reel
Connection, large arm top are large arm axial direction rotate driving position, and the top of forearm is forearm oscillating motor installation site.
6. a kind of cartwheel roll dynamic formula machine using described in claim 4~5 any one six sufficient wheel leg transform autonomous robots
Device people, which is characterized in that cartwheel roll dynamic formula robot is on the preferable road surface of road conditions, using wheel six together rolls forward
The mode fast forwarded through, two wheels of front end are responsible for turning to for task.
7. a kind of walking robot using described in claim 4~5 any one six sufficient wheel leg transform autonomous robots,
It is characterized in that, acquisition of the walking robot by camera, if judging is the complex road conditions such as soft sand ground, then
Using the gait control of Bionic Ant, the mesopodium of the front foot of every side, metapedes and the other side separately constitutes two groups of triangles, steps every time
Step and when obstacle detouring, before one group of triangle in after large arm swing forward, electric cylinders stretching is contacted to earth, and realizes the paces striden forward, separately
One group of triangle just supports body, keeps one's balance, and three leg large arm of first group of triangle are dynamic to backswing, and electric cylinders are simultaneously
Retract, carry out this movement while second group of triangle before in after large arm swing forward, electric cylinders stretching contact to earth；More than repeating
Process realization is forward to take a step to advance.
8. a kind of wheel leg using described in claim 4~5 any one six sufficient wheel leg transform autonomous robots exchanges climbing
Robot, which is characterized in that the wheel leg exchanges climbing robot when carrying out wide-angle climbing, and two front foots are swung forwards to
Specified angle, vehicle body move forward in the case that four driving legs drive arrive to slope surface later；Start to climb, move forward
During mesopodium, metapedes, which swings backward and is elongated to suitable length, touches slope surface, and the center of the robot is kept
Four-footed drives forwards after in horizontal position, formation, and forefoot support keeps the mode of balance to advance forward；When fast arrival top of the slope,
Front foot wheel is locked, is taken off forward by big arm swing, and mesopodium is shunk, and drives metapedes to move forward, realizes the climbing of wide-angle.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110481670A (en) * | 2019-08-26 | 2019-11-22 | 西安电子科技大学 | A kind of hybrid hexapod robot of wheel leg |
| CN110539820A (en) * | 2019-09-16 | 2019-12-06 | 北京理工大学 | vehicle with a steering 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 |
| CN111221332A (en) * | 2020-01-09 | 2020-06-02 | 重庆大学 | H-shaped hexapod robot and walking control method thereof |
| CN111251272A (en) * | 2020-04-16 | 2020-06-09 | 王源浩 | Humanoid self-feeding robot |
| CN111778848A (en) * | 2020-06-20 | 2020-10-16 | 中交第二公路勘察设计研究院有限公司 | Multidirectional adjustable striding type U rib inner walking device based on radar |
| CN111942491A (en) * | 2020-07-30 | 2020-11-17 | 上海交通大学 | UP and UPS based parallel connection mechanism wheel foot mobile robot |
| CN112141234A (en) * | 2020-08-28 | 2020-12-29 | 诸暨市蓝了电子科技有限公司 | Foot swinging of multi-foot wheeled robot and multi-foot wheeled robot |
| CN112550509A (en) * | 2020-11-12 | 2021-03-26 | 武汉理工大学 | Foot joint structure of wheeled walking vehicle steering drive axle |
| CN112937715A (en) * | 2019-12-11 | 2021-06-11 | 北京深醒科技有限公司 | Six-foot security patrol robot based on gear transmission |
| CN114162232A (en) * | 2022-01-17 | 2022-03-11 | 尊道（上海）自动化设备有限公司 | Multi-foot walking robot |
| CN115027591A (en) * | 2022-07-12 | 2022-09-09 | 北京理工大学 | Wheel-foot robot based on independent driving multi-stage cylinder and hub motor |
| CN115158512A (en) * | 2022-06-23 | 2022-10-11 | 浙江骑客机器人科技有限公司 | Electric vehicle and control method thereof |
| CN115330945A (en) * | 2022-08-12 | 2022-11-11 | 南京三万物联网科技有限公司 | Robot autonomous cruise and three-dimensional reconstruction device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110481670A (en) * | 2019-08-26 | 2019-11-22 | 西安电子科技大学 | A kind of hybrid hexapod robot of wheel leg |
| CN110539820A (en) * | 2019-09-16 | 2019-12-06 | 北京理工大学 | vehicle with a steering 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 |
| CN112937715A (en) * | 2019-12-11 | 2021-06-11 | 北京深醒科技有限公司 | Six-foot security patrol robot based on gear transmission |
| CN111221332A (en) * | 2020-01-09 | 2020-06-02 | 重庆大学 | H-shaped hexapod robot and walking control method thereof |
| CN111251272A (en) * | 2020-04-16 | 2020-06-09 | 王源浩 | Humanoid self-feeding robot |
| CN111251272B (en) * | 2020-04-16 | 2022-12-20 | 王源浩 | Humanoid self-feeding robot |
| CN111778848A (en) * | 2020-06-20 | 2020-10-16 | 中交第二公路勘察设计研究院有限公司 | Multidirectional adjustable striding type U rib inner walking device based on radar |
| CN111942491A (en) * | 2020-07-30 | 2020-11-17 | 上海交通大学 | UP and UPS based parallel connection mechanism wheel foot mobile robot |
| CN112141234B (en) * | 2020-08-28 | 2022-05-17 | 诸暨市蓝了电子科技有限公司 | Foot swinging of multi-foot wheeled robot and multi-foot wheeled robot |
| CN112141234A (en) * | 2020-08-28 | 2020-12-29 | 诸暨市蓝了电子科技有限公司 | Foot swinging of multi-foot wheeled robot and multi-foot wheeled robot |
| CN112550509A (en) * | 2020-11-12 | 2021-03-26 | 武汉理工大学 | Foot joint structure of wheeled walking vehicle steering drive axle |
| CN114162232A (en) * | 2022-01-17 | 2022-03-11 | 尊道（上海）自动化设备有限公司 | Multi-foot walking robot |
| CN115158512A (en) * | 2022-06-23 | 2022-10-11 | 浙江骑客机器人科技有限公司 | Electric vehicle and control method thereof |
| CN115027591A (en) * | 2022-07-12 | 2022-09-09 | 北京理工大学 | Wheel-foot robot based on independent driving multi-stage cylinder and hub motor |
| CN115027591B (en) * | 2022-07-12 | 2023-11-21 | 北京理工大学 | Wheel foot robot based on independent driving multi-stage cylinder and wheel hub motor |
| CN115330945A (en) * | 2022-08-12 | 2022-11-11 | 南京三万物联网科技有限公司 | Robot autonomous cruise and three-dimensional reconstruction device and method |
| CN115330945B (en) * | 2022-08-12 | 2023-09-08 | 南京三万物联网科技有限公司 | Robot autonomous cruising and three-dimensional reconstruction device and method |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190510 |