CN112373594A - Wheel-leg hybrid drive type mining metamorphic robot - Google Patents

Wheel-leg hybrid drive type mining metamorphic robot Download PDF

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Publication number
CN112373594A
CN112373594A CN202011295189.3A CN202011295189A CN112373594A CN 112373594 A CN112373594 A CN 112373594A CN 202011295189 A CN202011295189 A CN 202011295189A CN 112373594 A CN112373594 A CN 112373594A
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China
Prior art keywords
wheel
motor
leg
rod
robot
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Pending
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CN202011295189.3A
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Chinese (zh)
Inventor
刘善增
张克非
李怀展
沈刚
李允旺
李艾民
曹国华
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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Priority to CN202011295189.3A priority Critical patent/CN112373594A/en
Publication of CN112373594A publication Critical patent/CN112373594A/en
Pending legal-status Critical Current

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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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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a wheel-leg hybrid drive type mining metamorphic robot, which comprises a bearing platform and four wheel-leg traveling mechanisms, wherein each wheel-leg traveling mechanism comprises a wheel-leg branched chain and a steering device; the wheel leg branched chain comprises a support, mounting plates are arranged on two sides of the support, a motor II and a motor IV are respectively mounted on the mounting plates, the motor II is connected with a thigh rod, the bottom end of the thigh rod is rotatably connected with a wheel shaft, the motor IV is connected with a belt wheel assembly I, the motor IV is connected with and drives the wheel shaft, and wheels are connected to the wheel shaft; the upper leg rod is provided with a motor III which is hinged with a lower leg rod, and the motor III is connected with and drives the lower leg rod; the steering device comprises a rotating shaft connected to a support, the support is rotatably connected with the bearing platform through the rotating shaft, and a first motor is connected to the rotating shaft. The invention integrates the characteristics of high speed and high efficiency of the wheeled mobile robot and the high adaptability of the legged mobile robot in a complex form, improves the obstacle crossing capability of the robot and enlarges the operation range.

Description

Wheel-leg hybrid drive type mining metamorphic robot
Technical Field
The invention belongs to the field of mineral exploitation, and particularly relates to a wheel-leg hybrid drive type mining metamorphic robot.
Background
The robot and the driver technology thereof are a strategic high and new technology, are widely concerned by scholars, enterprises and public institutions at home and abroad, and research and development of the novel mobile robot and the related technology thereof have important significance for promoting social progress, economic development, improving life quality of people and the like.
The mobile robot is divided into various forms such as a wheel type, a leg type, a crawler type, a hybrid type and the like according to different moving modes. The general wheeled mobile robot has simple structure and high speed, but has great defects in obstacle-crossing capability and stability in an unstructured environment; the legged mobile robot has strong terrain adaptability, but the general structure is complex and difficult to control, and the requirement of high flexibility in design is not easy to meet.
Disclosure of Invention
The invention aims to solve the technical problem of providing a wheel-leg hybrid drive type mining metamorphic robot aiming at the defects of the background technology, integrates the characteristics of high speed and high efficiency of a wheel type mobile robot and high adaptability of a leg type mobile robot in a complex form, improves the obstacle crossing capability of the robot and enlarges the operation range.
The invention adopts the following technical scheme for solving the technical problems:
the utility model provides a mining metamorphic robot of wheel leg hybrid drive formula which characterized in that: the four-wheel-leg steering device comprises a bearing platform, wherein four wheel-leg traveling mechanisms are arranged on the periphery of the bearing platform and comprise wheel-leg branched chains and steering devices;
the wheel leg branched chain comprises a support, mounting plates are arranged on two sides of the support, a motor II and a motor IV are respectively mounted on the two mounting plates, a thigh rod is connected onto the motor II, a wheel shaft is rotatably connected to the bottom end of the thigh rod, a belt wheel assembly I is connected onto the motor IV, a motor cross is connected with and drives the wheel shaft through the belt wheel assembly I, and wheels are further connected onto the wheel shaft;
a motor III is mounted on the side wall of the thigh rod and hinged to a shank rod, and the motor III is connected with and drives the shank rod through a belt pulley component II;
the steering device comprises a rotating shaft connected to a support, the support is rotatably connected with the bearing platform through the rotating shaft, and a first motor is connected to the rotating shaft.
Furthermore, the support is of an inverted U-shaped structure, and the second motor and the motor are arranged on two sides of the support in a four-symmetrical and coaxial mode.
Further, the first belt wheel assembly comprises a third belt wheel, a fourth belt wheel and a synchronous belt II, the third belt wheel is connected with the fourth motor, and the fourth belt wheel is connected with the wheel shaft.
Furthermore, the belt wheel assembly II comprises a belt wheel II, a belt wheel I and a synchronous belt I, the belt wheel II is connected with the motor III, and the belt wheel I is connected with the shank rod.
Furthermore, the thigh rod is a channel steel type component with a U-shaped section, and the belt wheel assembly II is arranged in the U-shaped channel of the thigh rod to be detected.
Furthermore, the rubber foot pad is arranged at one end of the lower leg rod, which is far away from the upper leg rod.
Furthermore, the rubber foot pad is provided with a grid pattern.
Furthermore, the first motor is vertically connected with the rotating shaft through a first bevel gear and a second bevel gear.
Further, the revolving shaft is connected with the bearing platform bearing.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
the wheel-leg hybrid drive type mining metamorphic robot has the advantages of simple and compact structure, easiness in changing the combination form of the wheel-leg branched chains, low economic cost, strong environmental adaptability and the like, and the height of a bearing platform (chassis) of the robot is adjustable, so that the robot is easy to climb over rugged and rugged terrains. Meanwhile, the robot can realize the straight movement or the oblique movement when the robot moves in a wheel type manner, the humanoid walking movement and the movement forms of insect or crab crawling and the like when the robot moves in a leg type manner, the strict requirement of complex terrains in mining areas on the driving characteristics of the robot can be met, and the robot has wide application prospects in the fields of resource exploration, disaster rescue, agriculture and forestry and the like.
Drawings
FIG. 1 is a front view of the present invention in a wheeled movement;
FIG. 2 is a left side view of the present invention in a wheeled movement;
FIG. 3 is a front view of the leg walking configuration of the present invention;
FIG. 4 is a top view of the leg creep condition of the present invention;
FIG. 5 is a structural view of the thigh bar of the present invention;
FIG. 6 is a view of the construction of the lower leg shaft of the present invention;
FIG. 7 is a view showing the structure of a U-shaped groove of the shank rod of the present invention.
In the figure, 1, wheel; 2. a thigh bar; 3. a third motor; 4. a second motor; 5. a support; 6. a rolling bearing; 7. a rotating shaft; 8. a second bevel gear; 9. a first bevel gear; 10. a support; 11. a first motor; 12. a load-bearing platform; 13. a rubber foot pad; 14. a shank rod; 15. a first belt wheel; 16. a first synchronous belt; 17. a bearing cap; 18. a fourth motor; 19. a third belt wheel; 20. a second belt wheel; 21. a second synchronous belt; 22. a belt wheel IV; 23. a wheel shaft.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
example one
As shown in fig. 1-4, the invention relates to a wheel-leg hybrid drive type metamorphic robot for a mine, which comprises a bearing platform (chassis) and four wheel-leg traveling mechanisms with the same structure and size, wherein each wheel-leg traveling mechanism comprises a wheel-leg branched chain and a steering device.
The bearing platform 12 is a plane plate structure, can be made of common plates, and is easy to process and manufacture.
The wheel leg branched chain comprises a support 5, a thigh rod 2, a shank rod 14, a wheel 1, three motors and two belt wheel assemblies.
The support 5 is designed into a U-shaped structure, and a second motor 4 and a fourth motor 18 are conveniently fixed on two outer sides of the support respectively. The axes of the second motor 4 and the fourth motor 18 are overlapped to ensure the synchronous rotation of the thigh rod 2 and a belt transmission mechanism consisting of a third belt wheel 19, a second synchronous belt 21 and a fourth belt wheel 22. The second motor 4 is fixedly connected with the thigh rod 2 through a flat key and is used for driving the thigh rod 2 to rotate. The third belt wheel 19, the second synchronous belt 21 and the fourth belt wheel 22 form a first belt wheel assembly, and the fourth motor 18 drives the wheel 1. The axial direction of the wheel shaft 23 is parallel to the axial lines of the second motor 4 and the fourth motor 18.
The wheel leg branched chain is connected with the rotating shaft 7 through a support 5, and the upper end face of the support 5 is fixedly connected with the lower end face of the rotating shaft 7 through a screw, or the support 5 and the rotating shaft 7 are integrated.
And a shell of a motor III 3 in the wheel leg branched chain is fixed at the position close to the upper end of the thigh rod 2 through a screw, so that the movement inertia of the thigh rod 2 is reduced. The axis of the motor three 3 is parallel to the axis of the motor two 4. The first belt wheel 15 is mounted at the lower end part of the thigh rod 2 through a pin shaft, an elastic retainer ring and the like, and the first belt wheel 15 and the pin shaft are supported through a rolling bearing. The second belt wheel 20, the first synchronous belt 16 and the first belt wheel 15 form a second belt wheel assembly, and the driving of the third motor 3 on the shank rod 14 is achieved.
As shown in fig. 5, the thigh rod 2 is designed to be a U-shaped long member similar to a channel steel type, so that a belt transmission mechanism consisting of the second belt wheel 20, the first synchronous belt 16 and the first belt wheel 15 is conveniently arranged in the U-shaped channel of the thigh rod 2, and the whole structure of the robot is more compact and lighter.
The structural shape of the shank rod 14 is as shown in fig. 6 and 7, the rubber foot pad 13 is mounted at the landing end of the shank rod 14 to reduce the impact force when the shank rod 14 contacts with the ground, and the shank rod 14 and the rubber foot pad 13 are designed to be in interference fit, so that the use and the replacement are convenient. The outer surface of the rubber foot pad 13 is processed with grid lines to increase the friction between the shank rod 14 and the ground.
The steering device comprises a first motor 11, a first bevel gear 9, a second bevel gear 8, a rotating shaft 7, a rolling bearing 6, a bearing cover 17 and a support 10. The first motor 11 is a power source of the steering device and is fixed on the support 10, and the support 10 is fixedly connected with the bearing platform (chassis) through a screw. The bevel gear II 8 is connected with the motor I11 through a flat key. The first bevel gear 9 is connected with the rotating shaft 7 through a flat key. The rotating shaft 7 is assembled on the bearing platform (12) through an upper rolling bearing (6), a lower rolling bearing (6) and a bearing cover 17, and the center line of the rotating shaft 7 is in the vertical plumb direction. The bevel gear I9 and the bevel gear II 8 are meshed to transmit the power of the motor I11 to the rotating shaft 7, and the rotating shaft 7 drives the wheel leg branched chain to rotate 360 degrees around the vertical center line of the rotating shaft 7.
The wheel leg branched chain is fixedly connected with the rotating shaft 7 through the support 5, or the support 5 and the rotating shaft 7 are integrated, and the change of the motion direction of the robot in a wheel type moving state or the change of the combined shape of the wheel leg branched chain and the walking of the robot in a leg type moving state are realized by controlling the rotating angle of the rotating shaft 7.
Example two
The wheel-leg hybrid drive type mining metamorphic robot can realize the motion forms of height adjustment of a robot bearing platform (chassis), straight walking or oblique walking during wheel type movement, human-like stepping walking or insect-like crawling during leg type movement and the like, and the functions are explained through the following steps that one wheel-leg branched chain is similar to the driving operation of a steering device and other wheel-leg branched chains are similar to the operation program of the steering device.
Firstly, height adjustment of a bearing platform (chassis): when the robot moves in a wheel type moving state, as shown in fig. 1, the ground clearance of a bearing platform (chassis) of the robot system can be adjusted by driving the rotation angle of the thigh rod 2 through the second motor 4; in the leg-type moving state, as shown in fig. 3 and 4, the ground clearance of the supporting platform (chassis) can be adjusted by the rotation angle change of the thigh rod 2 driven by the motor two 4 and the rotation angle change of the shank rod 14 driven by the motor three 3.
Indeed, the attitude of the load-bearing platform (chassis) may also be adjusted accordingly by the aforementioned method.
Second, straight or oblique movement during wheel movement, as shown in fig. 1: firstly, starting a second motor 4 to drive the thigh rod 2, adjusting the bearing platform (chassis) to a proper height, and then closing the second motor 4; then, starting a motor I11 to drive the wheel leg branched chain and the thigh rod 2 to rotate, and turning off the motor I11 after adjusting the advancing direction of the wheel 1; the fourth starting motor 18 drives the wheels 1 to realize the wheel type movement of the robot. In the moving process of the robot, the first motor 11 can be started at any time to change the advancing direction of the wheels 1, so that the robot can move in a straight line, an oblique line or a turning line.
When the robot is in a wheeled moving state, the shank 14 should be in a retracted state, and the motor three 3 does not work.
Thirdly, the similar person walks in the leg-type movement as shown in fig. 3: firstly, a second starting motor 4 drives the thigh rod 2 to adjust the thigh rod 2 to the angle of gait operation; then, a third starting motor 3 drives the shank 14 to adjust the shank 14 to the angle of gait operation, and the rubber foot pad 13 is supported in a grounding mode; thirdly, starting a motor I11 to drive the thigh rod 2 and the shank rod 14 to rotate, and after the traveling direction of the robot is determined, closing the motor I11; and finally, according to gait planning, the thigh rod 2 is driven by the motor II 4 and the shank rod 14 is driven by the motor III 3 to jointly and alternately run, so that the leg type human-like walking of the robot is realized. When the robot is in a leg type human walking state, the first motor 11 can be started at any time to change the walking directions of the thigh rod 2 and the shank rod 14, so that the robot can move straight or turn and the like. When the robot is in a humanoid walking state during legged movement, the motor four 18 does not operate.
Fourthly, the insects crawl when moving in a leg type, as shown in fig. 4: firstly, a second starting motor 4 drives the thigh rod 2 to adjust the thigh rod 2 to an angle during crawling operation; then, a third starting motor 3 drives the shank rod 14, the shank rod 14 is adjusted to the angle during crawling operation, and the rubber foot pad 13 is supported in a grounding mode; thirdly, starting a motor I11 to drive the thigh rod 2 and the shank rod 14 to rotate, and determining the combination form of each wheel leg branched chain of the robot; and finally, according to the crawling gait plan, the leg type insects of the robot crawl through the combined alternate operation of the wheel leg branched chain driven by the motor I11, the thigh rod 2 driven by the motor II 4 and the shank rod 14 driven by the motor III 3.
As shown in fig. 4, if the first motor 11 is operated to drive the wheel leg branched chain to rotate to the vertical posture and the first motor 11 is locked, and at this time, the second motor 4 drives the thigh rod 2 and the third motor 3 drives the shank rod 14 to jointly and alternately operate, the leg-type crab crawling of the robot can be realized. When the robot is in the leg type insect crawling state, the motor IV 18 does not work.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the protection scope of the present invention. While the embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims (9)

1. The utility model provides a mining metamorphic robot of wheel leg hybrid drive formula which characterized in that: the wheel leg steering device comprises a bearing platform (12), wherein four wheel leg walking mechanisms are arranged on the periphery of the bearing platform (12), and each wheel leg walking mechanism comprises a wheel leg branched chain and a steering device;
the wheel leg branched chain comprises a support (5), mounting plates are arranged on two sides of the support (5), a motor II (4) and a motor IV (18) are respectively mounted on the two mounting plates, a thigh rod (2) is connected onto the motor II (4), the bottom end of the thigh rod (2) is rotatably connected with a wheel (1) shaft, a belt wheel assembly I is connected onto the motor IV (18), the motor IV (18) is connected with and drives the wheel (1) shaft through the belt wheel assembly I, and the wheel (1) shaft is also connected with a wheel (1);
a motor III (3) is mounted on the side wall of the thigh rod (2) and hinged to a shank rod (14), and the motor III (3) is connected with and drives the shank rod (14) through a belt wheel assembly II;
the steering device comprises a rotating shaft (7) connected to a support (5), the support (5) is rotatably connected with a bearing platform (12) through the rotating shaft (7), and a first motor (11) is connected to the rotating shaft (7).
2. The wheel-leg hybrid drive type mining metamorphic robot as claimed in claim 1, wherein: the support (5) is of an inverted U-shaped structure, and the second motor (4) and the fourth motor (18) are symmetrically and coaxially arranged on two sides of the support (5).
3. The wheel-leg hybrid drive type mining metamorphic robot as claimed in claim 1, wherein: the first belt wheel assembly comprises a third belt wheel (19), a fourth belt wheel (22) and a synchronous belt II (21), the third belt wheel (19) is connected with a fourth motor (18), and the fourth belt wheel (22) is connected with a wheel (1) through a shaft.
4. The wheel-leg hybrid drive type mining metamorphic robot as claimed in claim 1, wherein: the second belt wheel assembly comprises a second belt wheel (20), a first belt wheel (15) and a synchronous belt (16), the second belt wheel (20) is connected with the third motor (3), and the first belt wheel (15) is connected with the shank rod (14).
5. The wheel-leg hybrid drive type mining metamorphic robot as claimed in claim 4, wherein: the thigh rod (2) is a channel steel type component with a U-shaped section, and the belt wheel assembly II is arranged in a U-shaped channel of the thigh rod (2).
6. The wheel-leg hybrid drive type mining metamorphic robot as claimed in claim 1, wherein: the lower leg rod (14) is far away from the rubber foot pad (13) at one end of the upper leg rod (2).
7. The wheel-leg hybrid drive type mining metamorphic robot as claimed in claim 6, wherein: the rubber foot pad (13) is provided with grid lines.
8. The wheel-leg hybrid drive type mining metamorphic robot as claimed in claim 1, wherein: the motor I (11) is vertically connected with the rotating shaft (7) through a bevel gear I (9) and a bevel gear II (8).
9. The wheel-leg hybrid drive type mining metamorphic robot as claimed in claim 1, wherein: the revolving shaft (7) is in bearing connection with the bearing platform (12).
CN202011295189.3A 2020-11-18 2020-11-18 Wheel-leg hybrid drive type mining metamorphic robot Pending CN112373594A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113443042A (en) * 2021-08-09 2021-09-28 北京理工大学 Wheel-foot combined type biped robot
CN114056449A (en) * 2021-11-18 2022-02-18 北京钢铁侠科技有限公司 Robot running gear and have its robot
US20220242506A1 (en) * 2021-02-03 2022-08-04 Hyundai Motor Company Movable Object
CN116176726A (en) * 2023-03-23 2023-05-30 上海交通大学 Omnidirectional moving wheel leg robot and motion control method thereof

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CN111591363A (en) * 2020-05-27 2020-08-28 中国人民解放军国防科技大学 High-integration wheel leg composite mechanism and carrying platform
CN111731405A (en) * 2020-07-10 2020-10-02 腾讯科技（深圳）有限公司 Robot

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Publication number Priority date Publication date Assignee Title
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CN116176726A (en) * 2023-03-23 2023-05-30 上海交通大学 Omnidirectional moving wheel leg robot and motion control method thereof

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