CN110481670B - Wheel-leg mixed type hexapod robot - Google Patents
Wheel-leg mixed type hexapod robot Download PDFInfo
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- CN110481670B CN110481670B CN201910790238.1A CN201910790238A CN110481670B CN 110481670 B CN110481670 B CN 110481670B CN 201910790238 A CN201910790238 A CN 201910790238A CN 110481670 B CN110481670 B CN 110481670B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
- B60G13/005—Arrangements for attachment of dampers characterised by the mounting on the axle or suspension arm of the damper unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
- B60T1/065—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels employing disc
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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
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/162—Reducing road induced vibrations
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- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention provides a wheel-leg hybrid hexapod robot, which comprises a frame, a brake system and 6 wheel pairs, wherein the brake system comprises a motor, a brake motion mechanism and a brake pump, the brake motion mechanism comprises a fixed frame and a transmission mechanism, the transmission mechanism comprises a screw rod transmission mechanism and a transmission guide mechanism, the wheel pairs comprise a wheel system, a wheel system steering system, a gait motion system and an H-rod system, the wheel system steering system comprises a servo motor, a fixed seat, a fastening plate, a first short shaft, a coupler, a second short shaft, an upper bow plate, a lower bow plate and a bearing seat, the gait motion system comprises a gait adjusting structure and a buffer structure, the gait adjusting structure comprises a push rod motor, a rotating connecting plate, an upper rotating plate, a lower rotating plate, a push rod bracket, a rotating shaft, a bearing seat and a fixed plate, the buffer structure comprises a support frame, a damping fork, an upper connecting head, H connecting rod, shock absorber and spacing strip; the invention can be used for high-difficulty operations such as detection, rescue and the like.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a wheel-leg hybrid hexapod robot which can be used for high-difficulty operations such as detection, rescue and the like.
Background
The six-foot robot has the advantages that the six-foot robot is mostly in a wheel type and leg type motion mode, the wheel type six-foot robot is high in moving speed and energy utilization rate but poor in obstacle crossing capability, and the leg type six-foot robot is high in obstacle crossing capability and terrain adaptability but low in energy utilization rate. The wheel-leg hybrid hexapod robot has the advantages of both wheels and legs, has strong terrain adaptability and obstacle crossing capability, high energy utilization rate and stability, high moving speed and reaction capability, simultaneously complements each other in terms of advantages and disadvantages, and makes up respective defects. However, most of the existing wheel-leg hybrid robots adopt articulated mechanical legs and comprise complicated wheel-leg switching mechanisms, and the six-legged robots are complex in structure and high in control difficulty, so that the six-legged robots are poor in stability, small in movement range, low in strength and complicated in movement planning, and particularly, expected targets are difficult to achieve in high-strength operation environments such as military wars, fire fighting and disaster relief.
For example, in patent document entitled "a wheel-leg combined hexapod robot moving platform" (application No. 201510627562.3, application publication No. CN105151153A) filed by shenzhen research institute at the university of harabin industry, a wheel-leg combined hexapod robot moving platform is disclosed, which comprises a trunk and multi-foot moving mechanisms arranged on two sides of the trunk, wherein a wheel-type moving mechanism is arranged on the bottom surface of the trunk, and the wheel-type moving mechanism comprises two symmetrically arranged front wheels; the front wheels for steering are arranged on the front side of the robot, and the steering engines of the front feet are used for controlling the steering of the front wheels and providing steering power, so that the front wheels are steered by leg steering engines, and the driving force is reduced; however, each single-leg mechanism adopts a joint type structure, so that the control difficulty is large, the bearing capacity is weak, the single-leg swing range is small when the single-leg mechanism is in a leg type mode, the obstacle crossing capacity is weak, and the wheel-leg switching structure is included, so that the wheel-leg switching is complex.
For example, in a patent document entitled "a wheel-legged hexapod robot with integrated fixing and original steering functions" (application No. 201910177891.0, application publication No. CN109774816A), the university of chejiang industry discloses a wheel-legged hexapod robot with integrated fixing and original steering functions, which comprises an upper plate, a lower plate, an upper plate and lower plate connecting piece, a supporting piece structure, a wheel leg driving device and a wheel leg structure, wherein the wheel leg driving device is connected with the wheel leg structure and drives the wheel leg structure to move; the invention integrates the functions of fixing and pivot steering; however, the robot can only realize a simple motion mode, cannot realize all-directional motion, and has a narrow application range.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a wheel-leg hybrid hexapod robot, which is used for solving the technical problems that a hexapod robot wheel-leg mechanism is weak in bearing capacity, wheel-leg switching is complex and the single-leg swing range is small.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps:
a wheel-leg hybrid hexapod robot, includes frame 1, braking system 2 and six wheelsets 3, wherein:
the frame 1 comprises a frame 11 and a frame outer cover 12;
the frame 11 comprises a rectangular frame 111 and longitudinal beams 112; the rectangular frame 111 is composed of a long beam 1111 and a cross beam 1112, and the long beam 1111 and the cross beam 1112 are respectively positioned on the top surface and the bottom surface of the frame 11; the frame cover 12 comprises four battery protection boxes 121, six side guard plates 122, a roof guard cover 123, a first protection plate 124 and a second protection plate 125; the battery protection box 121 is positioned on the side surface of the frame 11; the side guard plate 122 is located above the six wheel sets 3; the first protection plate 124 and the second protection plate 125 are respectively positioned on the front end surface and the rear end surface of the frame 11;
the brake system 2 comprises a motor 21, a brake motion mechanism 22 and a brake pump 23; the brake motion mechanism 22 comprises a fixed frame 221 and a transmission mechanism 222; the fixing frame 221 is composed of a motor fixing seat 2211, a bottom plate 2212, a top plate 2213, a bearing seat 2214, a supporting seat 2215 and a brake fixing plate 2216; the upper surface of the bottom plate 2212 and the lower surface of the top plate 2213 are respectively connected with a motor fixing seat 2211, a bearing seat 2214, a supporting seat 2215 and a brake fixing plate 2216; the transmission mechanism 222 comprises a screw transmission mechanism 2221 and a transmission guide mechanism 2222; the screw rod transmission mechanism 2221 consists of a coupler 22211, a screw rod 22212, an end cover 22213, a locking nut 22214, a bearing 22215, a screw rod nut 22216 and a bearing 22217; the coupling 22211 is connected with a shaft of the screw 22212 and the motor 21, the end cap 22213 is fixed with a bearing seat 2214, the bearing 22215 is installed on the bearing seat 2214, the locking nut 22214 is connected with the screw 22212, the locking nut 22214 presses an inner ring of the bearing 22215, the screw nut 22216 is connected with a first slider 22222, the screw 22212 passes through a bearing 22215 and a screw nut 22216, the bearing 22217 is installed on a supporting seat 2215, and the tail end of the screw 22212 presses an inner ring of the bearing 22217; the transmission guide mechanism 2222 includes a guide bar 22221, a first slider 22222, a linear bearing 22223, a second slider 22224, a pressing shaft 22225, a first connecting plate 22226, and a second connecting plate 22227; the two ends of the guide bar 22221 are respectively fixed with the bearing seat 2214 and the supporting seat 2215, the linear bearing 22223 is respectively fixed with the first slider 22222 and the second slider 22224, the guide bar 22221 passes through the linear bearing 22223 and the supporting seat 2215, the pressing shaft 22225 is fixed with the second slider 22224, and the first connecting plate 22226 and the second connecting plate 22227 are respectively fixed with the upper and lower surfaces of the first slider 22222 and the second slider 22224;
the six wheel sets 3 respectively comprise three pairs of identical wheel sets 31, wherein each wheel set comprises a wheel train 311, a wheel train steering system 312, a gait motion system 313 and an H-bar system 314; each pair of wheel sets is symmetrically distributed about the direction of an x axis; the six wheels 3 are respectively arranged on the side surface of the frame body 11 at equal intervals along the x-axis direction;
the wheel train 311 includes a rubber wheel 3111, a hub motor 3112, a brake disc 3113, a brake gun holder 3114, a rotation stop plate 3115, a first hub connection plate 3116, a nut 3117, a second hub connection plate 3118 and a connection plate 3119; the rotation-stopping plate 3115 is fixed on the first hub connecting plate 3116, the brake disc 3113 is fixed on the rubber wheel 3111, the first hub connecting plate 3116 is connected with the second hub connecting plate 3118 through a connecting plate 3119, and a wheel shaft of the rubber wheel 3111 penetrates through the first hub connecting plate 3116 and the second hub connecting plate 3118 and is fixed through a nut 3117;
the gear train steering system 312 comprises a servo motor 3121, a fixed seat 3122, a fastening plate 3123, a first short shaft 3124, a coupling 3125, a second short shaft 3126, an upper bow plate 3127, a lower bow plate 3128 and a bearing seat 3129; the servo motor 3121 is fixed on a fixed seat 3122, the fixed seat 3122 is fixed on a fastening plate 3123, the first stub shaft 3124 is connected with a second stub shaft 3126 by a coupling 3125, the bearing seat 3129 is fixed on the fastening plate 3123, the second stub shaft 3126 is fixed on a lower bow plate 3128 and passes through the bearing seat 3129, and the lower bow plate 3128 is fixed on a second hub connecting plate 3118;
the gait motion system 313, comprising a gait adjustment structure 3131 and a cushioning structure 3132; the gait adjustment structure 3131 comprises a first push rod motor 31311, a transfer plate 31312, an upper push plate 31313, a second push rod motor 31314, a push rod support 31315, a lower push plate 31316, a rotation shaft 31317, a bearing block 31318 and a fixing plate 31319; the fixed end of the first push rod motor 31311 is fixed to the frame body 11, the free end of the first push rod motor 31311 is connected to the transfer plate 31312, the transfer plate 31312 is fixed to the upper rotating plate 31313, the upper rotating plate 31313 is fixed to the fixing plate 31319, the fixed end of the second push rod motor 31315 is fixed to the push rod support 31315, the free end of the second push rod motor 31315 is connected to the damping fork 31322, the push rod support 31315 is connected to the lower rotating plate 31316, the lower rotating plate 31316 is fixed to the fixing plate 31319, the bearing block 31318 is fixed to the H-rod system 314, the rotating shaft 31317 is fixed to the lower rotating plate 31316 and passes through the bearing block 31318; the buffering structure 3132 includes a supporting frame 31321, a damping fork 31322, an upper connector 31323, a lower connector 31324, a buffering connector 31325, an upper connecting rod 31326, an H connecting rod 31327, a damper 31328, and a stopper 31329; one end of the supporting frame 31321 is connected to the fixing plate 31319, the other end is connected to the damping fork 31322, the upper connector 31323 and the lower connector 31324 are respectively connected to the fixing plate 31319 and the fastening plate 323, the upper connecting rod 31326 is connected to the upper connector 31323, the H connecting rod 31327 is connected to the lower connector 31324, the damping connector 31325 is fixed to the H connecting rod 31327, one end of the damper 31328 is connected to the damping connector 31325, the other end is connected to the damping fork 31322, and two ends of the limiting bar 31329 are respectively connected to the damping connector 31325 and the damping fork 31322;
the H-bar system 314 is fixedly connected to the frame 11.
In the above technical solution, the number of the guide bars 22221 is two, and the guide bars 22221 have the same length and are located on the xy plane and are parallel to each other.
In the above technical solution, each wheel set includes two parallel shock absorbers 31328, and the upper connecting rod 31326 is located between the two shock absorbers 31328.
In the above technical solution, the upper connecting rod 31326 and the H connecting rod 31327 form a parallelogram structure.
In the above technical solution, the axis of the motor 21 coincides with the axes of the screw 22212 and the pressing shaft 22225.
Compared with the prior art, the invention has the following advantages:
1. according to the gait motion system, the push rod motor is arranged in the frame, the wheel leg structure is completely arranged outside the frame, and the large-range swing of the wheel leg structure can be realized by adjusting the parallelogram structure formed by the upper connecting rod and the H connecting rod.
2. According to the wheel set, the gait motion system and the gear train steering system are adjusted, so that left-right climbing translational motion can be realized in a leg mode, steering motion in a 90-degree range can be realized through the gear train steering system in a wheel mode, meanwhile, left-right translational motion can be realized through the gear train steering system in a 90-degree mode, and the hexapod robot can realize all-directional motion.
3. The buffering mechanism of the wheel set adopts the parallelogram parallel mechanism, so that the bearing capacity is high, and the buffering mechanism can adapt to difficult and complex working environments.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the frame body of the present invention;
FIG. 3 is a schematic view of the vehicle frame cover construction of the present invention;
FIG. 4 is a schematic diagram of the overall structure of the braking system of the present invention;
FIG. 5 is a schematic view of the fixed frame construction of the present invention;
FIG. 6 is a schematic view of the overall construction of the transmission mechanism of the present invention;
FIG. 7 is a schematic view of the lead screw drive and drive guide configuration of the present invention;
FIG. 8 is a schematic view of the overall construction of the wheel set of the present invention;
FIG. 9 is a schematic diagram of the gear train and gear train steering system of the present invention;
fig. 10 is a schematic view of the gait motion system configuration of the invention;
fig. 11 is a structural diagram of the gait motion pattern of the invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
referring to fig. 1, a wheel-leg hybrid hexapod robot includes a frame 1, a braking system 2, and six wheel sets 3, wherein:
the frame 1 comprises a frame 11 and a frame outer cover 12;
referring to fig. 2 and 3, the frame 11 includes a rectangular frame 111 and a longitudinal beam 112; the rectangular frame 111 is composed of a long beam 1111 and a cross beam 1112, and the long beam 1111 and the cross beam 1112 are respectively positioned on the top surface and the bottom surface of the frame 11; the frame cover 12 comprises four battery protection boxes 121, six side guard plates 122, a roof guard cover 123, a first protection plate 124 and a second protection plate 125; the battery protection box 121 is positioned on the side surface of the frame 11; the side guard plate 122 is located above the six wheel sets 3; the first protection plate 124 and the second protection plate 125 are respectively positioned on the front end surface and the rear end surface of the frame 11;
referring to fig. 4, 5, 6 and 7, the braking system 2 includes a motor 21, a brake moving mechanism 22 and a brake pump 23; the brake motion mechanism 22 comprises a fixed frame 221 and a transmission mechanism 222; the fixing frame 221 is composed of a motor fixing seat 2211, a bottom plate 2212, a top plate 2213, a bearing seat 2214, a supporting seat 2215 and a brake fixing plate 2216; the upper surface of the bottom plate 2212 and the lower surface of the top plate 2213 are respectively connected with a motor fixing seat 2211, a bearing seat 2214, a supporting seat 2215 and a brake fixing plate 2216; the transmission mechanism 222 comprises a screw transmission mechanism 2221 and a transmission guide mechanism 2222; the screw rod transmission mechanism 2221 consists of a coupler 22211, a screw rod 22212, an end cover 22213, a locking nut 22214, a bearing 22215, a screw rod nut 22216 and a bearing 22217; the coupling 22211 is connected with a shaft of the screw 22212 and the motor 21, the end cap 22213 is fixed with a bearing seat 2214, the bearing 22215 is installed on the bearing seat 2214, the locking nut 22214 is connected with the screw 22212, the locking nut 22214 presses an inner ring of the bearing 22215, the screw nut 22216 is connected with a first slider 22222, the screw 22212 passes through a bearing 22215 and a screw nut 22216, the bearing 22217 is installed on a supporting seat 2215, and the tail end of the screw 22212 presses an inner ring of the bearing 22217; the transmission guide mechanism 2222 includes a guide bar 22221, a first slider 22222, a linear bearing 22223, a second slider 22224, a pressing shaft 22225, a first connecting plate 22226, and a second connecting plate 22227; the two ends of the guide bar 22221 are respectively fixed with the bearing seat 2214 and the supporting seat 2215, the linear bearing 22223 is respectively fixed with the first slider 22222 and the second slider 22224, the guide bar 22221 passes through the linear bearing 22223 and the supporting seat 2215, the pressing shaft 22225 is fixed with the second slider 22224, and the first connecting plate 22226 and the second connecting plate 22227 are respectively fixed with the upper and lower surfaces of the first slider 22222 and the second slider 22224;
with reference to fig. 8, the six wheel sets 3 each comprise three pairs of identical wheel sets 31, wherein each wheel set comprises a wheel train 311, a wheel train steering system 312, a gait motion system 313 and an H-bar system 314; each pair of wheel sets is symmetrically distributed about the direction of an x axis; the six wheels 3 are respectively arranged on the side surface of the frame body 11 at equal intervals along the x-axis direction;
referring to fig. 9, the wheel train 311 includes a rubber wheel 3111, a hub motor 3112, a brake disc 3113, a brake gun holder 3114, a rotation stop plate 3115, a first hub connection plate 3116, a nut 3117, a second hub connection plate 3118 and a connection plate 3119; the rotation-stopping plate 3115 is fixed on the first hub connecting plate 3116, the brake disc 3113 is fixed on the rubber wheel 3111, the first hub connecting plate 3116 is connected with the second hub connecting plate 3118 through a connecting plate 3119, and a wheel shaft of the rubber wheel 3111 penetrates through the first hub connecting plate 3116 and the second hub connecting plate 3118 and is fixed through a nut 3117;
the gear train steering system 312 comprises a servo motor 3121, a fixed seat 3122, a fastening plate 3123, a first short shaft 3124, a coupling 3125, a second short shaft 3126, an upper bow plate 3127, a lower bow plate 3128 and a bearing seat 3129; the servo motor 3121 is fixed on a fixed seat 3122, the fixed seat 3122 is fixed on a fastening plate 3123, the first stub shaft 3124 is connected with a second stub shaft 3126 by a coupling 3125, the bearing seat 3129 is fixed on the fastening plate 3123, the second stub shaft 3126 is fixed on a lower bow plate 3128 and passes through the bearing seat 3129, and the lower bow plate 3128 is fixed on a second hub connecting plate 3118;
referring to fig. 10, the gait motion system 313 comprises a gait adjustment structure 3131 and a cushioning structure 3132; the gait adjustment structure 3131 comprises a first push rod motor 31311, a transfer plate 31312, an upper push plate 31313, a second push rod motor 31314, a push rod support 31315, a lower push plate 31316, a rotation shaft 31317, a bearing block 31318 and a fixing plate 31319; the fixed end of the first push rod motor 31311 is fixed to the frame body 11, the free end of the first push rod motor 31311 is connected to the transfer plate 31312, the transfer plate 31312 is fixed to the upper rotating plate 31313, the upper rotating plate 31313 is fixed to the fixing plate 31319, the fixed end of the second push rod motor 31315 is fixed to the push rod support 31315, the free end of the second push rod motor 31315 is connected to the damping fork 31322, the push rod support 31315 is connected to the lower rotating plate 31316, the lower rotating plate 31316 is fixed to the fixing plate 31319, the bearing block 31318 is fixed to the H-rod system 314, the rotating shaft 31317 is fixed to the lower rotating plate 31316 and passes through the bearing block 31318; the buffering structure 3132 includes a supporting frame 31321, a damping fork 31322, an upper connector 31323, a lower connector 31324, a buffering connector 31325, an upper connecting rod 31326, an H connecting rod 31327, a damper 31328, and a stopper 31329; one end of the supporting frame 31321 is connected to the fixing plate 31319, the other end is connected to the damping fork 31322, the upper connector 31323 and the lower connector 31324 are respectively connected to the fixing plate 31319 and the fastening plate 323, the upper connecting rod 31326 is connected to the upper connector 31323, the H connecting rod 31327 is connected to the lower connector 31324, the damping connector 31325 is fixed to the H connecting rod 31327, one end of the damper 31328 is connected to the damping connector 31325, the other end is connected to the damping fork 31322, and two ends of the limiting bar 31329 are respectively connected to the damping connector 31325 and the damping fork 31322;
referring to fig. 10, the H-bar system 314 is fixedly connected to the frame 11.
The working principle of the invention is as follows:
with reference to figure 11 of the drawings,
in the wheel-leg hybrid six-legged robot, in the leg mode, a motor shaft of a motor 21 of the brake system 2 rotates clockwise to drive a screw 22212 to rotate in a screw nut 22216, so that a first slider 22222 moves towards a direction close to a brake pump 23, and finally, six wheel pairs 3 are switched to leg motion in a braking mode; at this time, the robot changes the gait motion mode of the robot by adjusting the motion of the first push rod motor 31311 and the second push rod motor 31315 of the gait motion system 313, and particularly, the robot of the invention can realize the left-right climbing translational motion of the robot by adjusting the gait motion system 313; for example, when the robot moves with a three-legged gait, at the moment, six legs of the robot are divided into two groups, namely a left front wheel pair, a left rear wheel pair, a right middle wheel pair, a right front wheel pair, a right rear wheel pair and a left middle wheel pair, when the robot walks, three legs support the ground in each step to form a stable triangular support structure, and the other three legs rapidly step forward and land to form a new triangular support so as to alternately move; in a wheel type mode, the hub motor 3112 of the wheel train 311 drives the rubber wheel 3111 to rotate, and at the moment, the robot realizes the omnibearing steering motion of the robot by driving the servo motor 3121 of the wheel train steering system 312 to rotate, and particularly, the robot can drive the servo motor 3121 to enable the rubber wheel 3111 to rotate 90 degrees, so that the robot realizes the wheel type left-right translation motion; in addition, when the robot of the invention meets leg type movement under difficult and complicated road conditions, the robot is quickly converted into wheel type movement by driving the brake system 2, so that power is added to the robot, and the robot is suitable for more complicated and difficult road conditions.
The number of the guide bars 22221 is two, and the guide bars 22221 have the same length and are positioned parallel to each other in the xy-plane.
Each wheel set comprises two parallel arranged shock absorbers 31328, the upper connecting rod 31326 being located in between the two shock absorbers 31328.
The upper connecting rod 31326 and the H connecting rod 31327 form a parallelogram structure, which is a parallel mechanism, so that the wheel set 3 of the robot has a strong carrying capacity.
The axis of the motor 21 coincides with the axis of the screw 22212 and the press 22225.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. A wheel-leg hybrid hexapod robot, comprising a frame (1), a braking system (2) and six wheelsets (3), wherein:
the frame (1) comprises a frame (11) and a frame outer cover (12);
the frame (11) comprises a rectangular frame (111) and longitudinal beams (112); the rectangular frame (111) consists of a long beam (1111) and a cross beam (1112), and the long beam (1111) and the cross beam (1112) are respectively positioned on the top surface and the bottom surface of the frame (11); the frame outer cover (12) comprises four battery protection boxes (121), six side protection plates (122), a roof protection cover (123), a first protection plate (124) and a second protection plate (125); the battery protection box (121) is positioned on the side surface of the frame (11); the side guard plate (122) is positioned above the six wheel pairs (3); the first protection plate (124) and the second protection plate (125) are respectively positioned on the front end surface and the rear end surface of the frame (11);
the method is characterized in that:
the brake system (2) comprises a motor (21), a brake motion mechanism (22) and a brake pump (23); the brake motion mechanism (22) comprises a fixed frame (221) and a transmission mechanism (222); the fixed frame (221) consists of a motor fixed seat (2211), a bottom plate (2212), a top plate (2213), a bearing seat (2214), a supporting seat (2215) and a brake fixed plate (2216); the upper surface of the bottom plate (2212) and the lower surface of the top plate (2213) are respectively connected with a motor fixing seat (2211), a bearing seat (2214), a supporting seat (2215) and a brake fixing plate (2216); the transmission mechanism (222) comprises a screw rod transmission mechanism (2221) and a transmission guide mechanism (2222); the screw rod transmission mechanism (2221) consists of a coupler (22211), a screw rod (22212), an end cover (22213), a locking nut (22214), a bearing (22215), a screw rod nut (22216) and a bearing (22217); the coupler (22211) is connected with a shaft of a screw rod (22212) and a motor (21), the end cover (22213) is fixed with a bearing seat (2214), the bearing (22215) is installed on the bearing seat (2214), the locking nut (22214) is connected to the screw rod (22212), the locking nut (22214) presses an inner ring of a bearing (22215), the screw rod nut (22216) is connected with a first slider (22222), the screw rod (22212) penetrates through the bearing (22215) and the screw rod nut (22216), the bearing (22217) is installed on a supporting seat (2215), and the tail end of the screw rod (22212) presses an inner ring of a bearing (22217); the transmission guide mechanism (2222) comprises a guide rod (22221), a first sliding block (22222), a linear bearing (22223), a second sliding block (22224), a pressing shaft (22225), a first connecting plate (22226) and a second connecting plate (22227); the two ends of the guide rod (22221) are respectively fixed with the bearing seat (2214) and the supporting seat (2215), the linear bearing (22223) is respectively fixed with the first slider (22222) and the second slider (22224), the guide rod (22221) penetrates through the linear bearing (22223) and the supporting seat (2215), the pressing shaft (22225) is fixed with the second slider (22224), and the first connecting plate (22226) and the second connecting plate (22227) are respectively fixed with the upper surface and the lower surface of the first slider (22222) and the upper surface and the lower surface of the second slider (22224);
the six wheel sets (3) respectively comprise three pairs of identical wheel sets (31), wherein each wheel set comprises a wheel train (311), a wheel train steering system (312), a gait motion system (313) and an H-rod system (314); each pair of wheel sets is symmetrically distributed about the direction of an x axis; the six wheel pairs (3) are respectively arranged on the side surface of the frame body (11) at equal intervals along the x-axis direction;
the wheel train (311) comprises a rubber wheel (3111), a hub motor (3112), a brake disc (3113), a brake gun rack (3114), a rotation stopping plate (3115), a first hub connecting plate (3116), a nut (3117), a second hub connecting plate (3118) and a connecting plate (3119); the anti-rotation plate (3115) is fixed on the first hub connecting plate (3116), the brake disc (3113) is fixed on the rubber wheel (3111), the first hub connecting plate (3116) is connected with the second hub connecting plate (3118) through a connecting plate (3119), and a wheel shaft of the rubber wheel (3111) penetrates through the first hub connecting plate (3116) and the second hub connecting plate (3118) and is fixed through a nut (3117);
the gear train steering system (312) comprises a servo motor (3121), a fixed seat (3122), a fastening plate (3123), a first short shaft (3124), a coupling (3125), a second short shaft (3126), an upper bow plate (3127), a lower bow plate (3128) and a bearing seat (3129); the servo motor (3121) is fixed on a fixed seat (3122), the fixed seat (3122) is fixed on a fastening plate (3123), the first stub shaft (3124) is connected with a second stub shaft (3126) by a coupling (3125), the bearing seat (3129) is fixed on the fastening plate (3123), the second stub shaft (3126) is fixed on a lower bow plate (3128) and penetrates through the bearing seat (3129), and the lower bow plate (3128) is fixed on a second hub connecting plate (3118);
the gait motion system (313) comprising a gait adjustment structure (3131) and a cushioning structure (3132); the gait adjusting structure (3131) comprises a first push rod motor (31311), a swing plate (31312), an upper rotating plate (31313), a second push rod motor (31314), a push rod support (31315), a lower rotating plate (31316), a rotating shaft (31317), a bearing block (31318) and a fixing plate (31319); the fixed end of the first push rod motor (31311) is fixed to the frame body (11), the free end of the first push rod motor (31311) is connected to the adaptor plate (31312), the adaptor plate (31312) is fixed to the upper adaptor plate (31313), the upper adaptor plate (31313) is fixed to the fixing plate (31319), the fixed end of the second push rod motor (31315) is fixed to the push rod support (31315), the free end of the second push rod motor (31315) is connected to the damping fork (31322), the push rod support (31315) is connected to the lower adaptor plate (31316), the lower adaptor plate (31316) is fixed to the fixing plate (31319), the bearing block (31318) is fixed to the H-bar system (314), and the rotation shaft (31317) is fixed to the lower adaptor plate (31316) and passes through the bearing block (31318); the buffer structure (3132) comprises a supporting frame (31321), a damping fork (31322), an upper connector (31323), a lower connector (31324), a buffer connector (31325), an upper connecting rod (31326), an H connecting rod (31327), a damper (31328) and a limiting strip (31329); one end of the supporting frame (31321) is connected with the fixing plate (31319), the other end of the supporting frame is connected with the damping fork (31322), the upper connector (31323) and the lower connector (31324) are respectively connected with the fixing plate (31319) and the fastening plate (323), the upper connecting rod (31326) is connected with the upper connector (31323), the H connecting rod (31327) is connected with the lower connector (31324), the buffering connector (31325) is fixed with the H connecting rod (31327), one end of the shock absorber (31328) is connected with the buffering connector (31325), the other end of the shock absorber is connected with the damping fork (31322), and two ends of the limiting strip (31329) are respectively connected with the buffering connector (31325) and the damping fork (31322);
the H-shaped rod system (314) is fixedly connected with the frame (11);
a motor shaft of a motor (21) of the braking system (2) rotates clockwise to drive a screw rod (22212) to rotate on a screw rod nut (22216), so that a first sliding block (22222) moves towards the direction close to a brake pump (23), and finally six wheel pairs (3) are switched into a leg type mode in a braking mode to form a hexapod robot, and a gait motion mode of the robot is changed by adjusting the motion of a first push rod motor (31311) and a second push rod motor (31315) of a gait motion system (313); the motor shaft of motor (21) of braking system (2) anticlockwise rotates, drives lead screw (22212) and rotates at screw-nut (22216) for first slider (22222) is to keeping away from the direction motion of brake pump (23), makes six wheelset (3) pine switch into wheeled mode of stopping finally, forms six rounds of robots, and in-wheel motor (3112) through train (311) drives rubber tyer (3111) and rotates and realize wheeled motion.
2. The wheel-leg hybrid hexapod robot of claim 1, wherein: the number of the guide rods (22221) is two, and the guide rods (22221) are equal in length and located xy in parallel with each other.
3. The wheel-leg hybrid hexapod robot of claim 1, wherein: each wheel set comprises two parallel arranged shock absorbers (31328), the upper connecting rod (31326) being located intermediate the two shock absorbers (31328).
4. The wheel-leg hybrid hexapod robot of claim 1, wherein: the upper connecting rod (31326) and the H connecting rod (31327) form a parallelogram structure.
5. The wheel-leg hybrid hexapod robot of claim 1, wherein: the axis of the motor (21) is coincident with the axis of the screw rod (22212) and the axis of the pressing shaft (22225).
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| US11780282B2 (en) | 2020-03-02 | 2023-10-10 | Dalu Robotech, Technology(Beijing) Co., Ltd. | Suspension assembly, suspension damping device and six wheels bionic chassis |
| CN112298395B (en) * | 2020-10-26 | 2022-02-15 | 大陆智源科技（北京）有限公司 | Six-wheel bionic chassis |
| CN112124452A (en) * | 2020-10-13 | 2020-12-25 | 济南大学 | Multi-foot-wheel walking robot |
| CN112937718B (en) * | 2021-02-05 | 2021-09-14 | 重庆工程职业技术学院 | Multi-foot robot |
| CN113428259B (en) * | 2021-08-09 | 2022-08-09 | 哈尔滨工业大学 | Wheeled mobile robot of high adaptability |
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| CN2695188Y (en) * | 2003-12-04 | 2005-04-27 | 北京航空航天大学 | Leg-wheel changed structure type detecting robot |
| CN102328703B (en) * | 2011-07-14 | 2012-12-26 | 浙江大学 | Six-bar bouncing combined-type wheel-leg mobile robot |
| KR20130020107A (en) * | 2011-08-19 | 2013-02-27 | 박재형 | The algorythm of hybrid-way moving robot and itself |
| CN105151153A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Wheel-foot hybrid mode hexapod robot moving platform |
| CN105667622B (en) * | 2016-01-14 | 2017-09-01 | 哈尔滨工业大学 | It is a kind of to have the six of three sections of bodies to take turns sufficient formula mobile robots |
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| CN109774816B (en) * | 2019-03-10 | 2024-04-02 | 浙江工业大学 | Wheel leg type six-foot robot integrating fixed and in-situ steering functions |
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