CN207931408U - A kind of wheel leg type composite driving mechanism for amphibious ball shape robot - Google Patents
A kind of wheel leg type composite driving mechanism for amphibious ball shape robot Download PDFInfo
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- 230000007246 mechanism Effects 0.000 title claims abstract description 18
- 239000002131 composite material Substances 0.000 title claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 71
- 230000033001 locomotion Effects 0.000 claims abstract description 45
- 238000005096 rolling process Methods 0.000 claims abstract description 21
- 239000007921 spray Substances 0.000 claims description 44
- 210000001364 upper extremity Anatomy 0.000 claims description 27
- 230000005021 gait Effects 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 12
- 230000000737 periodic effect Effects 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000011160 research Methods 0.000 description 5
- 241000270295 Serpentes Species 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 241001674044 Blattodea Species 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000009193 crawling Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000037230 mobility Effects 0.000 description 2
- 241000252082 Anguilla anguilla Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 240000002836 Ipomoea tricolor Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 208000037873 arthrodesis Diseases 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005173 gliding motility Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 230000008844 regulatory mechanism Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
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Abstract
The utility model discloses a kind of wheel leg type composite driving mechanisms for amphibious ball shape robot, belong to underwater robot technical field, including：Along the circumferentially distributed more than two pedipulators in ball shape robot bottom and positioned at the liftable arthrodia of ball shape robot bottom centre；When the liftable arthrodia rises, the universal rolling wheel of bottom is not contacted with road surface, and when falling, the universal rolling wheel of bottom is contacted with road surface, and ball shape robot is lifted to setting height；Four pedipulators can circumferentially be moved along ball shape robot, and liftable arthrodia of the cooperation in full state realizes sliding for ball shape robot, this fit on is in the liftable arthrodia of propradation, realizes creeping for ball shape robot；The utility model can be directed to and use different motor patterns in different landform, realize the movement of environment, creeping for rough ground and sliding in flat road surface under water.
Description
Technical field
The utility model belongs to underwater robot technical field, and in particular to a kind of wheel leg for amphibious ball shape robot
Formula composite driving mechanism.
Background technology
Along with human knowledge ocean, exploitation ocean, utilize the process of marine resources and protection marine resources, underwater
People as it is a kind of move under water, have vision and sensory perceptual system, by remote control or autonomous remote control mode, using machinery or other
Tool replaces or auxiliary people goes to complete the device of underwater operation task, the important role of performer in ocean development and utilization.
In recent years, underwater robot became the hot spot of foreign study.Massachusetts Institute Technology, Office of Naval Research, U.S. Navy
(ONR) it hovers nobody underwater autonomous boat with the third generation of company of Lan Qi robots of the U.S. (Bluefin Robotics) cooperative research and development
Row device (HAUV 3) is able to detect that the submarine mine of warship bottom, the shape of HAUV 3 are similar to a kind of underwater flying saucer.Tokyo
The URA development in laboratory of the university different AUV of multiple functions, such as " Twin Burger AUV ".Mitsubishi heavy industry exploitation at
" AUV-EX1 " of work(can carry out investigation and prospecting at most deep 3500 meters of deep-sea.The scientist of Kiel, Germany university develops novel
Deep water robot " ROV KIEL 6000 ", can test to the seabed of 6000 meters of depths, find mysterious deep water biology and " white
Gold " combustible ice.The country for autonomous robot research essentially around two centers, first, Chinese Academy of Sciences Shenyang is automated as
Center has developed R-01 types/CR-02 types (6000m) unmanned cableless underwater robot, has adapted to abyssal floor level terrain
Polymetallic nodule mining area working environment, detection content are only limited to acoustics, optics and hydrographic survey；Second is that big with Harbin Institute of Engineering
Centered on, military Intelligent Underwater Robots such as " intelligence water I ", " intelligence water II ", " intelligence water III " and " intelligence water IV " is developed.It is this kind of
Underwater robot is designed using torpedo-shaped streamlined structure, has the shortcomings that volume is big, turning radius is big, concealment is poor, can not
Complete the task in narrow regions.It moves the propeller used, easy tos produce noise, is not suitable for hidden and bioaffinity.
Compared with the underwater robot of torpedo-shaped, ball shape robot has more advantages, and symmetry is good, and control is relatively simple.
The country includes mainly Harbin Engineering University, Beijing University of Post ＆ Telecommunication etc. to the research unit of underwater spherical robot.It 2007, breathes out
A spherical underwater vehicle that your the bionical Micro-Robot laboratory of shore engineering university is developed, sphere diameter 0.22m, air
Middle quality is 5.6kg, using two water spray motors as driving device, and water inlet and two water outlets there are two setting.The ball
Motion control of the shape underwater hiding-machine using the control method of attitude transducer signal feedback adjustment to itself, but due to its dynamical system
System design relative poor, kinematic dexterity is limited, and mobility is poor.The Sun Hanxu of 2010 Beijing University of Post ＆ Telecommunications is taught and Lan Xiaojuan
Doctor et al. has also carried out relevant research to spherical underwater robot.Doctor Lan Xiaojuan et al. has delivered some correlative theses Jie
Structural configuration, operation principle and the performance parameter of the spherical underwater robot BYSQ-2 for the built-in attitude regulation mechanism that continued, ball
The a diameter of 0.54m of body, quality is about 80kg in air.The spherical underwater robot is by its internal double drive steering mechanism
The sub-aqua sport of six-freedom degree is realized in cooperation with screw propeller.But the build of the design is larger, in shallow water, natural pond
Limited viability under the environment such as pool, beach.
Traditional underwater robot is only suitable for environment under water, smaller to the application value of the amphibious environment of border on the sea, so right
It is significant in the research of amphibious robot.Company of IS robots of the U.S. has developed underwater autonomous robot ALUV, has
Six legs, there are two degree of freedom for every leg, have amphibious motor function, but it can only crawl movement, be only suitable for the bottom
Movement, and move distance is closer.McGill University in 2005 has developed a kind of amphibious robot Whegs of imitative cockroach, pusher
Structure uses the design of three spoke wheel paddle leg formulas, and approximate wheel can realize high-performance and steady propulsion.On this basis,
Georgiades C et al. have developed amphibious Hexapod Robot AQUA, and AQUA is promoted when land is moved using arcuate leg, profit
With the good feature of arcuate leg mobility height and versatility, the propelled at high velocity of a variety of terrestrial environments may be implemented；Under water, it utilizes
The flapping locomotion of six paddles, AQUA can realize the movements such as cruise, lifting, surging, steering, rolling.Since AQUA is on land mountain
The different propulsive mechanisms used under water require manual replacement driving mechanism when being converted.Tokyo winter evening university
The amphibious snake robot of the ACM-R5 of development, the snake robot are made of multiple joints, and there are two degree of freedom for each joint tool, can realize
Pitching and yawing rotation.When land moves, ACM-R5 is promoted by the wriggling movement of body, can also realize tumbling motion；
When moving under water, for ACM-R5 using the undulatory propulsion for imitating common eel formula, movement is slower.
Therefore, existing amphibious robot and amphibious ball shape robot have the following problems：
1 current amphibious robot generally uses bionic principle design, such as bionic cockroach and snake, bionic cockroach
Robot uses different driving structures with land under water, when switching under water with Land Movement, requires manual replacement drive
Dynamic structure.Bionical snake robot is designed using articulated type, and land and sub-aqua sport is slower, is only capable of reaching 0.4m/s.
The amphibious ball shape robot designed before 2, light weight is smaller for the pressure of leg, only with four pedipulators
It can realize and creep, but the ability for carrying sensor is smaller.In order to improve the intelligence of robot, so needing robot
With more sensing means, to need to increase robot size.With the increase of robot weight, only it is difficult by four legs
Meet prolonged movement, and the increase due to carrying number of sensors, causes robot weight larger, robot leg servo
Steering engine load-bearing increases, and increases the loss of robot servo steering engine.Existing ball shape robot is moved ahead using gait, and driving structure is watched
The number for taking steering engine is more, and energy expenditure is more, and uses same motor pattern in different landform, can not achieve energy-efficient
Purpose.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of wheel leg type composite drive for amphibious ball shape robot
Mechanism can be directed to and use different motor patterns in different landform, realize that the movement of environment under water, rough ground are climbed
Row and sliding in flat road surface.
The utility model is achieved through the following technical solutions：
A kind of wheel leg type composite driving mechanism for amphibious ball shape robot, including：Along ball shape robot bottom circumferential direction
More than two pedipulators of distribution and liftable arthrodia positioned at ball shape robot bottom centre；
When the liftable arthrodia rises, the universal rolling wheel of bottom is not contacted with road surface, when falling, bottom
Universal rolling wheel is contacted with road surface, and ball shape robot is lifted to setting height；
Four pedipulators can circumferentially be moved along ball shape robot, liftable arthrodia of the cooperation in full state,
Realize the rotation of ball shape robot；
The bottom of four pedipulators is equipped with the water spray motor that can carry out pitching movement, when ball shape robot moves under water
And when being not exposed to the bottom, sub-aqua sport power is provided by water spray；When ball shape robot is when rough ground moves, water spray is electric
Motor spindle contacts road surface, and the universal rolling wheel of liftable arthrodia bottom is not contacted with road surface, by swinging pedipulator, realizes ball
The forward or backward of creeping of anthropomorphic robot；When ball shape robot is when flat road surface moves, the ten thousand of liftable arthrodia bottom
Way roller is contacted with road surface, and being slidably advanced and retracted for ball shape robot is realized in the swing of cooperative mechanical leg.
Further, the pedipulator further includes：Lower bracket, the first steering engine, steering wheel, bearing, the second steering engine and upper supporting plate；
The lower bracket be by bottom plate and two opposite side board groups at U-shaped frame；
After second steering engine is mounted on one end of upper supporting plate, and its output shaft passes through upper supporting plate, it is fixed on ball shape robot
On intermediate plate；The other end of upper supporting plate is fixedly connected with the bottom plate of lower bracket；Water spray motor side is mounted on lower branch by bearing
On the corresponding side plate of frame, other side water spray motor is fixed by steering wheel and the first steering engine on the outside of lower bracket, the first steering engine
It is fixed again with lower bracket, adopts and be screwed with the first steering engine output shaft in steering wheel；When second steering engine works, it can drive entire
Pedipulator is circumferentially rotated along ball shape robot；When first steering engine works, water spray motor can be controlled with steering engine output shaft and axis
The axis held is that center of rotation is rotated.
Further, the pedipulator further includes universal wheel, and two universal wheel 2-1 are mounted on the bottom plate of lower bracket, when
When ball shape robot is walked, universal wheel is in contact with the intermediate plate bottom surface of ball shape robot.
Further, the pedipulator is 0 °~90 ° along the angle that ball shape robot circumferentially moves.
Further, the liftable arthrodia, which is characterized in that including：Steering engine, support leg, can rise mobile platform
Arthrodia fixed link, upper beam, bottom end rail, fixed guide pole and leading screw drop；
Guide sleeve for being slidably matched with fixed guide pole is installed and for matching with leading screw on the mobile platform
The inner screw sheath of conjunction；
Upper beam is fixed on by liftable arthrodia fixed link on the intermediate plate of ball shape robot, and lower surface passes through
More than two fixed guide poles are connected to one with bottom end rail；
Between upper beam and bottom end rail, more than one in more than two fixed guide poles passes through mobile platform
Guide sleeve on mobile platform, for playing the guiding role to moving up and down for mobile platform；The lower face of mobile platform is equipped with
More than two support legs, and more than two support legs are respectively positioned on the outside of bottom end rail, the bottom of support leg is equipped with universal rolling wheel；
When mobile platform, which is displaced downwardly to support leg, contacts flat road surface, support is provided to ball shape robot by the support leg and auxiliary is slided
Row；
Steering engine for driving leading screw to rotate is fixed on liftable arthrodia fixed link；Leading screw passes through mobile platform
Inner screw sheath and after being threadedly coupled with the inner screw sheath, one end is mounted on bottom end rail, the other end pass through after upper beam with
The output shaft of steering engine is coaxially connected.
Further, the ball shape robot is when flat road surface is slidably advanced and retracted, if four pedipulators point
Not Wei left front leg LF, left back leg LH, right front leg RF, right rear leg RH, the left front leg LF and right rear leg RH be diagonal position；
Four pedipulators respectively by periodic lift leg, forward swinging kick, fall leg and contacted with ground after back swing leg step
It is rapid to move forward or back, wherein lift leg, forward swinging kick fall the stage that leg does not contact for pedipulator with flat road surface, are contacted with ground
Back swing leg afterwards is the stage contacted with flat road surface；
Ball shape robot is when diagonally sliding gait motion, and left front leg LF and right rear leg RH are one group and synchronize action,
Left back leg LH and right front leg RF is another group and synchronizes action, and two groups are respectively separated and are contacted with flat road surface；In spherical machine
It is contacted always with flat road surface there are two pedipulator in the motion process of people, three is shared together with intermediate liftable arthrodia
A point support, and three supporting points are on one wire；
Ball shape robot is triangle when sliding gait motion, left front leg LF, right rear leg RH, right front leg RF, left back leg LH according to
It is secondary not contacted with flat road surface, it is contacted always with flat road surface there are three pedipulator in the motion process of ball shape robot, with
There are four point supports altogether together for intermediate liftable arthrodia；
Ball shape robot is when synchronizing to slide gait motion, and left front leg LF and right front leg RF are one group and synchronize action,
Left back leg LH and right rear leg RH is another group and synchronizes action, and two groups are respectively separated and are contacted with flat road surface；In spherical machine
It is contacted always with flat road surface there are two pedipulator in the motion process of people, three is shared together with intermediate liftable arthrodia
The support of a point, and three supporting points are not on one wire.
Further, the ball shape robot is when flat road surface carries out rotating in place movement, when initial, ball shape robot
It is supported in flat road surface by four pedipulators and liftable arthrodia；
The first step, four pedipulators of control are not contacted with flat road surface；
Second step, four pedipulators of control are circumferential along ball shape robot while rotating set angle；
Third walks, and four pedipulators of control are contacted with flat road surface；
4th step, four pedipulators of control are circumferential along ball shape robot while rotating backward set angle, and generate rotation
Torque drives ball shape robot to rotate backward set angle；
5th step repeats the first step to the 4th step, realizes rotating in place for ball shape robot.
Further, it when ball shape robot moves in inclined flat road surface, is fallen by liftable arthrodia
Flat road surface is contacted, and pedipulator is not contacted with flat road surface, ball shape robot is universal by liftable arthrodia bottom
Idler wheel realizes freely gliding along inclined flat road surface.
Advantageous effect：(1) the utility model is sprayed water by the water spray motor of four pedipulators to provide motion-promotion force, is realized
The underwater movement of ball shape robot；By the swing of servos control pedipulator, realize ball shape robot on a variety of different road surfaces
Movement；By the water spray motor rotation of the first servos control and the rotation of the second servos control upper supporting plate, the swing of pedipulator is realized；
In flat road surface, liftable arthrodia lifts ball shape robot, the periodic wobble successively of cooperative mechanical leg, realizes spherical
Robot is sliding and rotary motion；In rough ground, liftable arthrodia ball shape robot is fallen and not with ground
Contact, periodic wobble, realization robot crawling move cooperative mechanical leg successively；Hereby it is achieved that for different terrain using not
Energy is saved with motor pattern.
(2) when the utility model is directed to flat road surface, under the arthrodial auxiliary of liftable, four pedipulators realize
Ball shape robot slides gait, and when flat road surface is inclined-plane, by making pedipulator not contacted with ground and liftable cunning
The universal rolling wheel of movable joint bottom can realize that ball shape robot slides automatically along inclined-plane, save electricity, reduce energy consumption；
Ball shape robot slides gait and slides that movement speed is very fast along the automatic of inclined-plane, and can reduce the abrasion of mechanical structure,
Prolong the service life.
(3) the utility model, can by the sequence of motion of four pedipulators of adjusting and the quantity of the pedipulator moved simultaneously
To generate a variety of gaits, the demand under varying environment is adapted to.
Description of the drawings
Fig. 1 is the structure composition figure of the utility model.
Fig. 2 is the structure composition figure of the pedipulator of the utility model.
Fig. 3 is the arthrodial structure composition figure of liftable of the utility model.
Fig. 4 is the position relationship vertical view of four pedipulators of the utility model.
Fig. 5 is that the diagonal of the utility model slides gait figure.
Fig. 6 is that the triangle of the utility model slides gait figure.
Fig. 7 is that synchronizing for the utility model slides gait figure.
Fig. 8 rotates in place gait figure for the utility model.
Wherein, 1-1 liftables arthrodia, 1-2 pedipulators, 2-1 universal wheels, 2-2 lower brackets, the first steering engines of 2-3,2-4
Steering wheel, 2-5 water spray motors, 2-6 bearings, 2-7 disks, the second steering engines of 2-8,2-9 upper supporting plates, 3-1 liftable arthrodias are fixed
Bar, 3-2 upper beams, 3-5 fixed guide poles, 3-6 leading screws, 3-7 inner screw sheaths, 3-8 bottom end rails, 3-12 guide sleeves, 4-1 steering engines,
4-2 mobile platforms, 4-3 support legs, 4-4 universal rolling wheels.
Specific implementation mode
With reference to the accompanying drawings and examples, the utility model is described in detail.
A kind of wheel leg type composite driving mechanism for amphibious ball shape robot is present embodiments provided, referring to attached drawing 1, packet
It includes：Liftable along four circumferentially distributed pedipulator 1-2 of ball shape robot bottom and positioned at ball shape robot bottom centre is slided
Movable joint 1-1；
When ball shape robot is when flat road surface moves, the liftable arthrodia 1-1 can be fallen, its bottom is made to set
The more than two universal rolling wheels having are contacted with flat road surface, ball shape robot are lifted to setting height, the universal rolling wheel is logical
The contact with flat road surface is crossed, ball shape robot can be assisted to slide；When ball shape robot crawling exercises on rough ground,
Liftable arthrodia 1-1 can rise, and so that the universal rolling wheel of its bottom is not contacted with road surface, i.e., do not interfere ball shape robot to exist
The movement of rough ground；When ball shape robot moves under water and is not exposed to the bottom, liftable arthrodia 1-1 no matter on
It rises or falls and all will not interfere with the underwater movement of ball shape robot；
Referring to attached drawing 2, the pedipulator 1-2 includes：Universal wheel 2-1, lower bracket 2-2, the first steering engine 2-3, steering wheel 2-4,
Spray water motor 2-5, bearing 2-6, disk 2-7, the second steering engine 2-8 and upper supporting plate 2-9；
The lower bracket 2-2 be by bottom plate and two opposite side board groups at U-shaped frame；
After second steering engine is mounted on one end of upper supporting plate, and its output shaft passes through upper supporting plate, it is fixed on ball shape robot
On intermediate plate；The other end of upper supporting plate is fixedly connected with the bottom plate of lower bracket；Water spray motor side passes through disk and bearing is installed
On the corresponding side plate of lower bracket, other side water spray motor is fixed by steering wheel and the first steering engine on the outside of lower bracket, the
One steering engine is fixed with lower bracket again, is adopted and is screwed with the first steering engine output shaft in steering wheel；It, being capable of band when second steering engine works
Move entire pedipulator circumferentially rotating along ball shape robot；When first steering engine works, water spray motor can be controlled and exported with steering engine
The axis of axis and bearing is that center of rotation is rotated.
After second steering engine 2-8 is mounted on one end of upper supporting plate 2-9, and its output shaft passes through upper supporting plate 2-9, it is fixed on spherical shape
On the intermediate plate of robot；The other end of upper supporting plate 2-9 is connect by bolt with the bottom plate of lower bracket 2-2；Pacify on the bottom plate
There are two universal wheel 2-1 for dress, and when ball shape robot is walked, universal wheel 2-1 is in contact with the bottom surface of the intermediate plate, prevents
Support plate 2-9 stress is bent；The water spray sides motor 2-5 are mounted on the correspondence side plate of lower bracket 2-2 by disk 2-7 and bearing 2-6
On, disk 2-7 is fixed on the sides water spray motor 2-5, and the shaft on disk 2-7 is mounted on lower bracket 2- with after bearing 2-6 cooperations
On 2 corresponding side plate；The water spray motor other side is connected by steering wheel 2-4, and steering wheel 2-4 is fixed with steering engine 2-3 output shafts, steering engine
Another side plates of 2-3 and lower bracket 2-2 are fixed；When the first steering engine 2-3 work, water spray motor 2-5 can be controlled with bearing 2-6 and rudder
The axis of machine 2-3 output shafts is that center of rotation is rotated, and water spray motor 2-5 is made to contact or not contacted with road surface with road surface,
When the motor 2-5 that sprays water is not contacted with road surface, moreover it is possible to adjust water spraying direction；Wherein, when ball shape robot moves under water and not
When touching the bottom, ball shape robot provides motion-promotion force by spraying water motor 2-5 water sprays；When ball shape robot is on rugged road
When road surface described in face or flat road surface includes ground or is water-bed mobile, water spray motor 2-5 is only as leading leg, without water spray；
It is fallen in liftable arthrodia 1-1, and when pedipulator 1-2 is not contacted with road surface, the second steering engine 2-8 work can drive whole
A pedipulator 1-2 circumferentially rotating along ball shape robot, rotational angle range are 0 °~90 °；
Referring to attached drawing 3, the liftable arthrodia 1-1 includes：Steering engine 4-1, mobile platform 4-2, support leg 4-3, can
Lifting carriage arthrodesis bar 3-1, upper beam 3-2, bottom end rail 3-8, fixed guide pole 3-5 and leading screw 3-6；
Guide sleeve 3-12 and use for being slidably matched with fixed guide pole 3-5 is installed on the mobile platform 4-2
In the inner screw sheath 3-7 coordinated with leading screw 3-6；
The bottom of support leg 4-3 is equipped with universal rolling wheel 4-4；
Upper beam 3-2 is fixed on by liftable arthrodia fixed link 3-1 on the intermediate plate of ball shape robot, following table
Face is connected to one by more than two fixed guide pole 3-5 and bottom end rail 3-8；
Mobile platform 4-2 is between upper beam 3-2 and bottom end rail 3-8, in more than two fixed guide pole 3-5
More than one passes through the guide sleeve 3-12 on mobile platform 4-2, for playing the guiding role to moving up and down for mobile platform 4-2；
The lower face of mobile platform 4-2 is equipped with more than two support leg 4-3, and two or more support leg 4-3 is respectively positioned on bottom end rail 3-8
Outside；When mobile platform 4-2, which is displaced downwardly to support leg 4-3, contacts flat road surface, by support leg 4-3 to ball shape robot
Support is provided；
Steering engine 4-1 for driving leading screw 3-6 to rotate is fixed on liftable arthrodia fixed link 3-1；Leading screw 3-6 is worn
After crossing the inner screw sheath 3-7 of mobile platform 4-2 and being threadedly coupled with the inner screw sheath 3-7, one end is mounted on bottom end rail 3-8
On, the other end is coaxially connected with the output shaft of steering engine 4-1 after upper beam 3-2.
Operation principle：When ball shape robot moves under water and is not exposed to the bottom, the water spray electricity of four pedipulator 1-2
Machine 2-5 work, provides motion-promotion force by spraying water, realizes the movement of ball shape robot.
When ball shape robot is when rough ground moves, liftable arthrodia 1-1 rises to the universal rolling wheel of its bottom
The water spray motor 2-5 of the position not contacted with road surface, four pedipulator 1-2 does not work, by control four pedipulator 1-2 the
One steering engine 2-3 rotations, make the bottom of water spray motor 2-5 contact rough ground, realize the standing of ball shape robot；When spherical machine
In people's walking process, water spray motor 2-5 rotations and the second steering engine 2-8 is driven to control upper supporting plate 2- by the first steering engine of control 2-3
9, so that the bottom of water spray motor 2-5 is generated the frictional force between rough ground, realizes that creeping for ball shape robot moves forward and backward
Movement.
In ball shape robot when flat road surface moves, liftable arthrodia 1-1 is fallen, the universal rolling wheel of its bottom is made
It is contacted with flat road surface；In ball shape robot walking process, the 2-5 rotations of water spray motor are driven by the first steering engine of control 2-3,
So that the bottom of water spray motor 2-5 is generated the frictional force between flat road surface, upper supporting plate 2- is being driven by the second steering engine of control 2-8
9 rotations, and coordinate liftable arthrodia 1-1, realize slidable travel and the retrogressing of ball shape robot；As water spray motor 2-5
After being contacted with flat road surface, drive pedipulator 1-2 along circumferential (the second steering engine 2-8 of ball shape robot by the second steering engine of control 2-8
The axial direction of output shaft) rotation, coordinate liftable arthrodia 1-1 that ball shape robot is supported in flat road surface, realizes spherical
The rotary motion of robot；Wherein, when flat road surface is inclined-plane, water spray motor 2-5 is driven to turn by the first steering engine of control 2-3
It is dynamic, so that water spray motor 2-5 is not contacted with flat road surface, you can to realize that ball shape robot passes through the bottoms liftable arthrodia 1-1
Universal rolling wheel freely gliding along inclined-plane；
(1) the forward or backward gliding motility of ball shape robot
Four pedipulator 1-2 be respectively left front leg LF, left back leg LH, right front leg RF, right rear leg RH, the left front leg LF and
Right rear leg RH is diagonal position, referring to attached drawing 4；Four pedipulator 1-2 respectively by periodic lift leg, forward swinging kick, fall leg and
The step of back swing leg after being contacted with ground, moves forward or back, wherein lift leg, forward swinging kick, fall leg be pedipulator 1-2 not with it is flat
It in the stage of smooth road surface contact, is indicated with the white bars in attached drawing 5-8, the back swing leg after being contacted with ground is to be contacted with flat road surface
Stage, indicated with the black bar in attached drawing 5-8；
Referring to attached drawing 5, action, and left back leg LH and right front leg RF are synchronized when left front leg LF and right rear leg RH is one group
When synchronizing action for another group, two groups are respectively separated when being contacted with flat road surface, and ball shape robot is diagonally to slide gait；
At this point, being contacted always with flat road surface there are two pedipulator in the motion process of ball shape robot, slided with intermediate liftable
There are three point supports altogether together for movable joint, and three supporting points are on one wire, and movement speed is very fast；
Referring to attached drawing 6, when left front leg LF, right rear leg RH, right front leg RF, left back leg LH are not contacted successively with flat road surface,
And when each the time of contact of pedipulator and flat road surface is three double-length not with flat road surface time of contact, i.e. first machinery
The duration that leg is contacted with flat road surface will be continued until that the 4th pedipulator just falls leg, and first pedipulator just can be with
Leg is lifted again；At this point, ball shape robot, which is triangle, slides gait；There are three machineries always in the motion process of ball shape robot
Leg is contacted with flat road surface, and there are four points to support altogether together with intermediate liftable arthrodia, and mobile comparison is stablized；
Referring to attached drawing 7, action, and left back leg LH and right rear leg RH are synchronized when left front leg LF and right front leg RF is one group
When synchronizing action for another group, two groups are respectively separated when being contacted with flat road surface, and ball shape robot is to synchronize to slide gait；
At this point, being contacted always with flat road surface there are two pedipulator in the motion process of ball shape robot, slided with intermediate liftable
There are three point supports altogether together for movable joint, and three supporting points are not on one wire, and movement speed is very fast and mobile comparison is stablized.
(2) ball shape robot rotates in place movement
When initial, ball shape robot is supported on flat road surface by four pedipulator 1-2 and liftable arthrodia 1-1
On；
The first step, the first steering engine of control 2-3 drive the 2-5 rotations of water spray motor, water spray motor 2-5 are made not connect with flat road surface
It touches；
Second step, the second steering engine 2-8 by controlling four pedipulator 1-2 drive four pedipulator 1-2 simultaneously to same
A direction rotation set angle is less than 90 °；
Third walks, and the first steering engine of control 2-3 drives water spray motor 2-5 to be contacted with flat road surface；
4th step, the second steering engine 2-8 by controlling four pedipulator 1-2 drive four pedipulator 1-2 simultaneously to same
It is a to rotate backward set angle, and generate turning moment and ball shape robot is driven to rotate backward set angle；
5th step repeats the first step to the 4th step, realizes rotating in place for ball shape robot, four pedipulators, which are realized, to be synchronized
Action, while being contacted with flat road surface, referring to attached drawing 8, black bar indicates four pedipulators and flat road surface contact phase, white
Item indicates four pedipulators and flat road surface discontiguous stage.
In conclusion the above is only the preferred embodiments of the present utility model only, it is not intended to limit the utility model
Protection domain.Within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on should all wrap
Containing being within the protection scope of the utility model.
Claims (8)
1. a kind of wheel leg type composite driving mechanism for amphibious ball shape robot, which is characterized in that including：Along ball shape robot
The circumferentially distributed more than two pedipulators (1-2) in bottom and the liftable arthrodia (1- positioned at ball shape robot bottom centre
1)；
When the liftable arthrodia (1-1) rises, the universal rolling wheel of bottom is not contacted with road surface, when falling, bottom
Universal rolling wheel contacted with road surface, and ball shape robot is lifted to setting height；
Four pedipulators (1-2) can circumferentially be moved along ball shape robot, lifting carriage joint (1- of the cooperation in full state
1) rotation of ball shape robot, is realized；
The bottom of four pedipulators (1-2) is equipped with the water spray motor (2-5) that can carry out pitching movement, when ball shape robot is in water
Lower movement and when being not exposed to the bottom, passes through water spray and provides sub-aqua sport power；When ball shape robot is when rough ground moves,
Water spray bottom motor (2-5) contacts road surface, and the universal rolling wheel of the bottom lifting carriage joint (1-1) is not contacted with road surface, passes through pendulum
Dynamic water spray motor (2-5), realizes the forward or backward of creeping of ball shape robot；When ball shape robot is when flat road surface moves,
The universal rolling wheel of the bottom liftable arthrodia (1-1) is contacted with road surface, and spherical machine is realized in the swing of cooperation water spray motor (2-5)
Device people's is slidably advanced and retracted.
2. a kind of wheel leg type composite driving mechanism for amphibious ball shape robot as described in claim 1, which is characterized in that
The pedipulator (1-2) further includes：Lower bracket (2-2), the first steering engine (2-3), steering wheel (2-4), bearing (2-6), the second steering engine
(2-8) and upper supporting plate (2-9)；
The lower bracket (2-2) be by bottom plate and two opposite side board groups at U-shaped frame；
After second steering engine (2-8) is mounted on one end of upper supporting plate (2-9), and its output shaft passes through upper supporting plate (2-9), it is fixed on ball
On the intermediate plate of anthropomorphic robot bottom；The other end of upper supporting plate (2-9) is fixedly connected with the bottom plate of lower bracket (2-2)；Water spray electricity
The machine side (2-5) is mounted on by disk 2-7 and bearing 2-6 on the corresponding side plate of lower bracket, and spray water motor (2- for the other side
5) fixed by the first steering engine (2-3) on the outside of steering wheel (2-4) and lower bracket (2-2), the first steering engine (2-3) again with lower bracket 2-
2 fix, and adopt and are screwed with the first steering engine 2-3 output shafts in steering wheel 2-4；When second steering engine (2-8) works, it can drive whole
A pedipulator (1-2) circumferentially rotating along ball shape robot；When first steering engine (2-3) works, water spray motor (2-5) can be controlled
It is rotated as center of rotation using the first steering engine (2-3) and the axis of bearing (2-6).
3. a kind of wheel leg type composite driving mechanism for amphibious ball shape robot as claimed in claim 2, which is characterized in that
The pedipulator (1-2) further includes universal wheel (2-1), and two universal wheels (2-1) are mounted on the bottom plate of lower bracket (2-2), when
When ball shape robot is walked, universal wheel (2-1) is in contact with the intermediate plate bottom surface of ball shape robot.
4. a kind of wheel leg type composite driving mechanism for amphibious ball shape robot as described in claim 1, which is characterized in that
The pedipulator (1-2) is 0 °~90 ° along the angle that ball shape robot circumferentially moves.
5. a kind of wheel leg type composite driving mechanism for amphibious ball shape robot as described in claim 1, which is characterized in that
The liftable arthrodia 1-1 includes：Steering engine (4-1), mobile platform (4-2), support leg (4-3), liftable arthrodia
Fixed link (3-1), upper beam (3-2), bottom end rail (3-8), fixed guide pole (3-5) and leading screw (3-6)；
Be equipped on the mobile platform (4-2) guide sleeve (3-12) for being slidably matched with fixed guide pole (3-5) and
Inner screw sheath (3-7) for coordinating with leading screw (3-6)；
The bottom of support leg (4-3) is equipped with universal rolling wheel (4-4)；
Upper beam (3-2) is fixed on by liftable arthrodia fixed link (3-1) on the intermediate plate of ball shape robot bottom,
Lower surface is connected to one by more than two fixed guide poles (3-5) and bottom end rail (3-8)；
Mobile platform (4-2) is located between upper beam (3-2) and bottom end rail (3-8), more than two fixed guide poles (3-5)
In more than one pass through mobile platform (4-2) on guide sleeve (3-12), be used for having moved up and down to mobile platform (4-2)
Guiding role；The lower face of mobile platform (4-2) is equipped with more than two support legs (4-3), and more than two support legs (4-3)
It is respectively positioned on the outside of bottom end rail (3-8)；When mobile platform (4-2), which is displaced downwardly to support leg (4-3), contacts flat road surface, by this
Support leg (4-3) provides support to ball shape robot；
Steering engine (4-1) for driving leading screw (3-6) to rotate is fixed on liftable arthrodia fixed link (3-1)；Leading screw (3-
6) after passing through the inner screw sheath (3-7) of mobile platform (4-2) and being threadedly coupled with the inner screw sheath (3-7), one end installation
On bottom end rail (3-8), the other end passes through upper beam (3-2) coaxially connected with the output shaft of steering engine (4-1) afterwards.
6. a kind of wheel leg type composite driving mechanism for amphibious ball shape robot as described in claim 1, which is characterized in that
The ball shape robot when flat road surface is slidably advanced and retracted, if four pedipulators (1-2) be respectively left front leg LF,
Left back leg LH, right front leg RF, right rear leg RH, the left front leg LF and right rear leg RH are diagonal position；
Four pedipulators (1-2) respectively by periodic lift leg, forward swinging kick, fall leg and contacted with ground after back swing leg step
It is rapid to move forward or back, wherein lift leg, forward swinging kick fall the stage that leg does not contact for pedipulator (1-2) with flat road surface, with ground
Back swing leg after the contact of face is the stage contacted with flat road surface；
Ball shape robot is when diagonally sliding gait motion, and left front leg LF and right rear leg RH are one group and synchronize action, left back
Leg LH and right front leg RF is another group and synchronizes action, and two groups are respectively separated and are contacted with flat road surface；In ball shape robot
It is contacted always with flat road surface there are two pedipulator in motion process, there are three points altogether together with intermediate liftable arthrodia
Support, and three supporting points are on one wire；
Ball shape robot is triangle when sliding gait motion, and left front leg LF, right rear leg RH, right front leg RF, left back leg LH are successively not
It contacts, is contacted always with flat road surface there are three pedipulator in the motion process of ball shape robot, with centre with flat road surface
Liftable arthrodia together altogether there are four point support；
Ball shape robot is when synchronizing to slide gait motion, and left front leg LF and right front leg RF are one group and synchronize action, left back
Leg LH and right rear leg RH is another group and synchronizes action, and two groups are respectively separated and are contacted with flat road surface；In ball shape robot
It is contacted always with flat road surface there are two pedipulator in motion process, there are three points altogether together with intermediate liftable arthrodia
Support, and three supporting points are not on one wire.
7. a kind of wheel leg type composite driving mechanism for amphibious ball shape robot as claimed in claim 4, which is characterized in that
The ball shape robot is when flat road surface carries out rotating in place movement, and when initial, ball shape robot passes through four pedipulator (1-
2) it is supported in flat road surface with liftable arthrodia (1-1)；
The first step, four pedipulators (1-2) of control do not contact with flat road surface；
Second step, four pedipulators (1-2) of control are circumferential along ball shape robot while rotating set angle；
Third walks, and four pedipulators (1-2) of control contact with flat road surface；
4th step, four pedipulators (1-2) of control are circumferential along ball shape robot while rotating backward set angle, and generate rotation
Torque drives ball shape robot to rotate backward set angle；
5th step repeats the first step to the 4th step, realizes rotating in place for ball shape robot.
8. a kind of wheel leg type composite driving mechanism for amphibious ball shape robot as described in claim 1, which is characterized in that
When ball shape robot moves in inclined flat road surface, contact is fallen on flat road by liftable arthrodia (1-1)
On face, and pedipulator (1-2) is not contacted with flat road surface, and ball shape robot passes through the ten thousand of the bottom liftable arthrodia (1-1)
Way roller realizes freely gliding along inclined flat road surface.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721599310.5U CN207931408U (en) | 2017-11-24 | 2017-11-24 | A kind of wheel leg type composite driving mechanism for amphibious ball shape robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721599310.5U CN207931408U (en) | 2017-11-24 | 2017-11-24 | A kind of wheel leg type composite driving mechanism for amphibious ball shape robot |
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ID=63644686
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108146167A (en) * | 2017-11-24 | 2018-06-12 | 北京理工大学 | A kind of wheel leg type composite driving mechanism for amphibious ball shape robot |
| CN109774815A (en) * | 2018-11-21 | 2019-05-21 | 中北大学 | A kind of conversion traveling method of fire-fighting robot |
-
2017
- 2017-11-24 CN CN201721599310.5U patent/CN207931408U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108146167A (en) * | 2017-11-24 | 2018-06-12 | 北京理工大学 | A kind of wheel leg type composite driving mechanism for amphibious ball shape robot |
| CN108146167B (en) * | 2017-11-24 | 2023-11-10 | 北京理工大学 | Wheel leg type composite driving mechanism for amphibious spherical robot |
| CN109774815A (en) * | 2018-11-21 | 2019-05-21 | 中北大学 | A kind of conversion traveling method of fire-fighting robot |
| CN109774815B (en) * | 2018-11-21 | 2021-05-14 | 中北大学 | Conversion walking method of fire-fighting robot |
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