CN207267508U - A kind of variable bit wheel leg for mobile robot obstacle detouring - Google Patents
A kind of variable bit wheel leg for mobile robot obstacle detouring Download PDFInfo
- Publication number
- CN207267508U CN207267508U CN201720347475.7U CN201720347475U CN207267508U CN 207267508 U CN207267508 U CN 207267508U CN 201720347475 U CN201720347475 U CN 201720347475U CN 207267508 U CN207267508 U CN 207267508U
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- China
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- support leg
- driving device
- leading screw
- thread leading
- leg
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Abstract
The utility model discloses a kind of variable bit wheel leg for mobile robot obstacle detouring, wheel leg includes driving device, driving device housing, support leg, movable pulley.Driving device includes drive motor, retarder, external screw thread leading screw, internal thread leading screw driven member, support leg includes support leg of drawing money on credit, short support leg, drive motor is installed on one end of driving device housing with retarder, support leg of drawing money on credit one end is hinged on internal thread leading screw driven member, bottom is provided with movable pulley, internal thread leading screw driven member engages external screw thread leading screw, driving motor rotation drives internal thread leading screw driven member inwardly or outwardly to be moved along driving device shell length direction on outer threaded screw rod, internal thread leading screw driven member drives support leg movement to adjust the upright position of movable pulley, the innovative point of the utility model is that wheel leg is changed by the i.e. adjustable movable pulley upright position of displacement deformation of itself, it is simple in structure, configuration is ingenious, being capable of self-locking, a kind of feasible implementation is provided for the big obstacle detouring of mobile robot.
Description
Technical field
The present invention relates to intelligent robot technology field, more particularly to a kind of variable bit wheel for mobile robot obstacle detouring
Leg.
Background technology
Mobile robot is broadly divided into wheeled, crawler type and leg formula three major types according to the difference of motion mode.With section
Skill and the progress of industry, mobile robot have obtained new development by the combination walking mechanism of Different Exercise Mode, such as：
Take turns robot leg, carry out robot leg, Lun Lv robots, wheel shoe robot leg etc., this kind of robot is referred to as hybrid machine people.
Wheeled mobile robot has the characteristics that maneuverability, stable, speed is fast, load-carrying is big, but it is adaptively
Shape, obstacle climbing ability are limited.In contrast, leg type mobile robot have good landform adaptability, obstacle climbing ability, but its
Travelling performance is poor and configuration is complicated.It is short that wheel-leg combined type robot then takes length to keep away, and combines wheeled, leg type mobile robot
Advantage, also with powerful obstacle climbing ability while making robot with good travelling performance.
But the performance of wheel robot leg is far from reaching above-mentioned kinetic characteristic at present, how to allow leg-wheel robot to play
Go out its due sports level, accomplish the perfect adaptation of wheeled robot and legged mobile robot exercise performance, become the field and grind
The emphasis studied carefully.
To solve the above-mentioned problems, it is necessary to which a kind of improved variable bit wheel leg for mobile robot obstacle detouring, this is variable
Position wheel leg is changed by the adjustable movable pulley upright position of displacement deformation of itself, simple in structure, automatic self-locking, for mobile machine
National People's Congress's obstacle detouring provides a kind of feasible implementation, robot is had good obstacle performance and environmental adaptability.
The content of the invention
In order to overcome, itself obstacle climbing ability of robot wheel leg is poor, load capacity is poor, structure does not conform in existing mobile robot
The problems such as reason.The present invention provides the variable bit that a kind of i.e. adjustable movable pulley upright position of the displacement deformation by itself changes
Wheel leg, and this be used for mobile robot obstacle detouring variable bit wheel leg it is simple in structure, configuration is ingenious, can self-locking, be moving machine
Device National People's Congress obstacle detouring provides a kind of feasible implementation.
The technical solution adopted by the present invention to solve the technical problems is：The invention discloses one kind to be used for mobile robot
The variable bit wheel leg of obstacle detouring, wheel leg include driving device, driving device housing, support leg, movable pulley.Driving device includes driving
Motor, retarder, external screw thread leading screw, internal thread leading screw driven member, support leg include draw money on credit support leg, short support leg.
Preferably, the drive motor that the driving leading screw rotates is installed on one end of driving device housing with retarder.
Preferably, for the support leg by being hingedly suspended on below driving device, support leg of drawing money on credit is held on it passes through hinge
Connector is hinged to internal thread leading screw driven member, in its bottom, support leg of drawing money on credit connection movable pulley.Short support leg one end passes through hinge
Connector is hinged to driving device housing distal, and the other end part that is connected through the hinge is hinged to support leg of drawing money on credit.
Preferably, the internal thread leading screw driven member engagement external screw thread leading screw, output shaft and the external screw thread leading screw of retarder
Linked together by shaft coupling, driving motor rotation drives internal thread leading screw driven member to be filled on outer threaded screw rod along driving
Shell length direction is put inwardly or outwardly to move (direction of rotation for depending on screw).
Preferably, the movable pulley is conventional rotating wheel, either power wheel or Unpowered wheel, installation
In support leg bottom of drawing money on credit, internal thread leading screw driven member drives support leg movement to adjust the upright position of movable pulley.
Preferably, the wheel leg driving device is used for extending and (that is, declining) and retract and (that is, raise) wheel leg.
Preferably, the movement of internal thread leading screw driven member close to driving device housing distal causes to grow in the driving device
The hinge assembly of support leg and short support leg is extended downwardly away from driving device.Internal thread leading screw driven member is remote in driving device
The movement of driving device housing distal cause the to draw money on credit hinge assembly of support leg and short support leg is upwardly extended close to driving device.Branch
Support leg of drawing money on credit in support leg extends and retracts and movable pulley is raised and is reduced.
Preferably, it will be understood by those skilled in the art that driving device can with make support leg extend and retract it is any
Other suitable modes construct.For example, driving device can be by forming similar to electric pushrod telescoping member.
Preferably, variable bit wheel leg can provide battery and any suitable control system (not shown) to operate wheel leg fortune
Move, such as battery may be mounted on robot body, electronic control system may be mounted on wireless remote control handle, and handle can
With including one or more control sticks, to control the various movements of variable bit wheel leg.
The invention has the advantages that a kind of variable bit wheel leg for mobile robot obstacle detouring is become by the displacement of itself
The i.e. adjustable movable pulley upright position change of shape, simple in structure, configuration is ingenious, can self-locking, carried for the big obstacle detouring of mobile robot
A kind of feasible implementation is supplied.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is general structure schematic diagram of the present invention；
Fig. 2 is variable bit wheel leg action schematic diagram.
1. driving device in figure, 11. drive motors, 12. retarders, 13. external screw thread leading screws, 14. internal thread leading screws from
Moving part, 15. shaft couplings, 2. driving device housings, 3. support legs, 31. draw money on credit support leg, 32. short support legs, 4. movable pulleys, and 21. drive
Dynamic device case distal end, 6. hinge connectors.
Embodiment
The invention will be further described with reference to the accompanying drawings and embodiments, and described embodiment is only the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
Go out all other embodiments obtained on the premise of creative work, belong to the scope of protection of the invention.
Structure, ratio, size, quantity etc. depicted in this specification institute accompanying drawings, only coordinating specification to be taken off
The content shown, so that those skilled in the art understands and reads, is not limited to the enforceable qualifications of the present invention, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size, are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall and obtain the model that can cover in disclosed technology contents
In enclosing.Meanwhile cited such as " on ", " under ", "left", "right", " centre " term in this specification, it is merely convenient to describe
Understand, and be not used to limit the enforceable scope of the present invention, its relativeness is altered or modified, and technology is being changed without essence
Inside hold, when being also considered as the enforceable category of the present invention.
【Embodiment】
The variable bit wheel leg overall structure that Fig. 1 shows in the embodiment of the present invention for mobile robot obstacle detouring is illustrated
Figure.Wheel leg includes driving device 1, driving device housing 2, support leg 3, movable pulley 4.Driving device include drive motor 11,
Retarder 12, external screw thread leading screw 13, internal thread leading screw driven member 14, shaft coupling 15, support leg 3 include draw money on credit support leg 31, short branch
Support leg 32.
As shown in Figure 1, support leg 3, by being hingedly suspended on the lower section of driving device 1, support leg of drawing money on credit 31 is held on it passes through hinge
Chain link 6 is hinged to internal thread leading screw driven member 14, and in its bottom, support leg of drawing money on credit 31 is connected to movable pulley 4.Short support leg 32
One end is hinged to driving device housing distal 21 by hinge 6, and the other end part 6 that is connected through the hinge is hinged to support leg of drawing money on credit
31。
As shown in Figures 1 and 2, internal thread leading screw driven member 14 engages external screw thread leading screw 13, the output shaft of retarder 12 with
External screw thread leading screw 13 is linked together by shaft coupling 15, and the driving rotation of motor 11 drives internal thread leading screw driven member 14 in outer spiral shell
13 inwardly or outwardly move (the rotation side depending on external screw thread leading screw 13 along 2 length direction of driving device housing on line leading screw
To).
As shown in Figures 1 and 2, movable pulley 4 is conventional rotating wheel, either power wheel or Unpowered wheel,
Installed in 31 bottom of support leg of drawing money on credit, internal thread leading screw driven member 14 drives the movement of support leg 3 to adjust the vertical position of movable pulley 4
Put.
As shown in Fig. 2, the wheel leg driving device 1 is used for extending and (that is, declining) and retract and (that is, raise) support leg 3.
As shown in Fig. 2, the movement of internal thread leading screw driven member 14 close to driving device housing distal 21 is led in driving device 1
The hinge assembly of support leg 31 and short support leg 32 of causing to draw money on credit is extended downwardly away from driving device 1.Internal thread leading screw in driving device 1
Movement of the driven member 14 away from driving device housing distal 21 cause to draw money on credit support leg 31 and short support leg 32 hinge assembly it is close
Driving device 1 upwardly extends.Support leg of drawing money on credit in support leg 3 31 extends and retracts and movable pulley 4 is raised and is reduced.
As shown in Fig. 2, it will be understood by those skilled in the art that driving device 1 can be with making support leg 3 extend and retract
Any other suitable mode constructs.For example, driving device 1 can be by forming similar to electric pushrod telescoping member.
Variable bit wheel leg can provide battery and any suitable control system (not shown) to operate wheel leg movement, such as
Battery may be mounted on robot body, and electronic control system may be mounted on wireless remote control handle, and handle can include
One or more control sticks, to control the various movements of variable bit wheel leg.
The invention has the advantages that a kind of variable bit wheel leg for mobile robot obstacle detouring is become by the displacement of itself
I.e. adjustable 4 upright position of the movable pulley change of shape, simple in structure, configuration is ingenious, can self-locking, carried for the big obstacle detouring of mobile robot
A kind of feasible implementation is supplied.
Claims (4)
1. a kind of variable bit wheel leg for mobile robot obstacle detouring, wheel leg includes driving device, driving device housing, support
Leg, movable pulley, driving device include drive motor, retarder, external screw thread leading screw, internal thread leading screw driven member, support leg bag
Support leg of drawing money on credit, short support leg are included, driving device is bolted on driving device housing, and support leg is connected by articulated manner
It is connected on driving device housing, movable pulley is by being hingedly fixed in support leg.
2. the variable bit wheel leg according to claim 1 for mobile robot obstacle detouring, it is characterised in that above-mentioned support leg
By being hingedly suspended on below driving device, it is driven that support leg of drawing money on credit holds the part that is connected through the hinge to be hinged to internal thread leading screw on it
Part, in its bottom, support leg of drawing money on credit connection movable pulley, short support leg one end is connected through the hinge, and to be hinged to driving device housing remote for part
End, and the other end part that is connected through the hinge is hinged to support leg of drawing money on credit.
3. the variable bit wheel leg according to claim 1 for mobile robot obstacle detouring, it is characterised in that above-mentioned internal thread
Leading screw driven member engages external screw thread leading screw, and the output shaft of retarder is linked together with external screw thread leading screw by shaft coupling, drives
Motor rotation drive internal thread leading screw driven member on outer threaded screw rod along driving device shell length direction inwardly or outwardly
It is mobile.
4. the variable bit wheel leg for mobile robot obstacle detouring according to claim 1 or claim 3, its feature exist
In, in above-mentioned driving device the movement of internal thread leading screw driven member close to driving device housing distal cause draw money on credit support leg and short branch
The hinge assembly of support leg is extended downwardly away from driving device, and internal thread leading screw driven member is away from driving device housing in driving device
The movement of distal end cause the to draw money on credit hinge assembly of support leg and short support leg is upwardly extended close to driving device, long support in support leg
Leg extends and retracts and movable pulley is raised and is reduced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720347475.7U CN207267508U (en) | 2017-04-05 | 2017-04-05 | A kind of variable bit wheel leg for mobile robot obstacle detouring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720347475.7U CN207267508U (en) | 2017-04-05 | 2017-04-05 | A kind of variable bit wheel leg for mobile robot obstacle detouring |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207267508U true CN207267508U (en) | 2018-04-24 |
Family
ID=61960833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720347475.7U Expired - Fee Related CN207267508U (en) | 2017-04-05 | 2017-04-05 | A kind of variable bit wheel leg for mobile robot obstacle detouring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207267508U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774816A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | It is a kind of to collect fixed, pivot stud function wheel leg type hexapod robot |
-
2017
- 2017-04-05 CN CN201720347475.7U patent/CN207267508U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774816A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | It is a kind of to collect fixed, pivot stud function wheel leg type hexapod robot |
| 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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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180424 Termination date: 20200405 |