CN210361335U - Span height-adjustable wheel-leg robot - Google Patents
Span height-adjustable wheel-leg robot Download PDFInfo
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- CN210361335U CN210361335U CN201921269307.6U CN201921269307U CN210361335U CN 210361335 U CN210361335 U CN 210361335U CN 201921269307 U CN201921269307 U CN 201921269307U CN 210361335 U CN210361335 U CN 210361335U
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- 230000007246 mechanism Effects 0.000 description 6
- 238000003466 welding Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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Abstract
The utility model discloses a span is striden high adjustable wheel leg formula robot, including the telescopic girder, the girder inside in the middle of be equipped with the PCB board, the PCB board on be equipped with main control chip, the left and right sides of girder be equipped with telescopic main wheel leg respectively, main wheel leg top be equipped with the battery, main wheel leg lower extreme be equipped with driving motor, driving motor's output shaft on be equipped with the action wheel, the driving motor front end be equipped with the supporting wheel that uses with the action wheel cooperation, main control chip's power end and driving motor's power end respectively with battery electric connection, driving motor's control end and main control chip electric connection. The utility model overcomes the inflexible problem of traditional robot action that prior art exists. The utility model has the advantages of high flexibility and wide application range.
Description
Technical Field
The utility model relates to a robot field, more specifically say, relate to a span is striden high adjustable wheel-legged robot.
Background
The robot is a tool for providing convenience or expanding the range of motion of people: convenience is provided, such as a sweeping robot; and expanding the range of motion of people, such as scientific and scientific robots. In the natural and human society, there are places where people cannot reach and places where people are not suitable for reaching, such as mines in which disasters occur, disaster prevention and rescue, counter terrorism and the like.
The wheel-leg robot has a structure of double feet, four feet, six feet and eight feet, the double feet and four feet robot has high coordination requirement, the stability control requirement is more complicated, the balance stability is relatively poor, compared with the double feet and four feet robot, the six feet and eight feet robot has a unique discontinuous support walking mode, namely, the robot still has good motion stability under the condition of instability of a certain leg, has different gaits to deal with different terrain environments, and simultaneously enables the control algorithm to be generated more conveniently and foreseeably. However, the robot with the multi-foot structure has the defects of complicated structure, large size, inflexible walking and high-speed walking stability.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve the above-mentioned defect that prior art exists, provide a main span adjustable wheel-legged robot that has stronger obstacle-spanning ability now.
The utility model discloses a main span adjustable wheel leg formula robot, including the telescopic girder, the girder inside centre be equipped with the PCB board, the PCB board on be equipped with main control chip, the left and right sides of girder be equipped with telescopic main wheel leg respectively, main wheel leg top be equipped with the battery, main wheel leg lower extreme be equipped with driving motor, driving motor's output shaft on be equipped with the action wheel, the driving motor front end be equipped with the supporting wheel that uses with the action wheel cooperation, main control chip's power end and driving motor's power end respectively with battery electric connection, driving motor's control end and main control chip electric connection.
The utility model discloses based on self-balancing car principle, the major structure includes a scalable girder, controls two main wheel legs of both ends symmetrical arrangement to and connect two supporting wheel legs on the main wheel leg. The top of the main wheel leg is connected with the end of the main beam to form a portal structure, and the height of the portal is controlled by the lifting of the telescopic mechanism on the main wheel leg. The supporting wheel legs are fixed on the main wheel legs, when the robot does not work, the supporting mechanism is unfolded to support the ground, the driving wheel arranged on the main wheel legs and the supporting wheels arranged on the supporting wheel legs are braked, and the robot is in a reliable parking state.
The balance and the normal motion of robot are realized by the left and right sides action wheel, because for the height, two-wheeled leg span is great, and the robot has stronger anti ability of turning on one's side, can arrange other actuating mechanism as required on the girder, if arrange handling mechanism etc. at central authorities.
When the road surface is used in a flat road surface environment in a common environment:
① the main control chip realizes front and back linear motion and balance by controlling the driving wheel.
② the main control chip controls the differential speed of the left and right driving wheels to realize the steering movement.
③ the main control chip controls the left and right driving wheels to move in opposite directions at the same speed to realize pivot steering.
When the road surface is uneven in special environment or used in environment with limited space:
① when the left and right sides of the driving wheel are not equal in height, detecting the roll angle, and adjusting the height of the wheel leg on one side to keep the main beam dynamically horizontal;
② when the space is limited, creeping motion, the supporting wheels at two sides contact the ground, the driving wheel is separated from contact, the supporting wheel at one side brakes, the other side releases, at the same time, the main beam stretches to drive the span to change (extend or contract) relative to the braking side, further, the two sides brake and release alternately, and the main beam stretches to realize transverse creeping motion.
The balance and normal motion of the robot are realized by the driving wheels on the left side and the right side, and the robot has stronger rollover resistance due to the fact that the span of the two wheel legs is larger relative to the height, and other executing mechanisms can be arranged on the main beam as required, such as a carrying mechanism and the like in the center.
Preferably, the main control chip is a powerful and affordable single-chip microcomputer ATMEGA _32, the side of the main control chip is electrically connected with a 2-axis gyroscope IR2184, an angle sensor IRF1405 is installed on an output shaft of the driving motor, and the angle sensor IRF1405 is electrically connected with the main control chip.
The cooperation through 2 axle gyroscope IR2184 and angle sensor IRF1405 is used to realize the utility model discloses a self-balancing principle. The inclination angles of the main beam in the X axis and the Y axis are detected by using a 2-axis gyroscope IR2184, for example, when the main beam is detected to incline forwards, the main control chip controls the driving motor to rotate in an accelerated way so that the driving wheel rotates in an accelerated way to realize the balance of the main beam. Utilize the revolution of angle sensor IRF1405 detectable action wheel, realize the balance and the turn of girder through the revolution of control girder both sides action wheel, for example when needs turn to the left, the left driving motor of main control chip can control the girder reduces the revolution, and the driving motor on girder right side keeps the revolution, and the girder can turn to left this moment.
Preferably, the left side and the right side of the inside of the girder are respectively provided with a horizontal sliding groove, a PCB is arranged between the two horizontal sliding grooves, a telescopic rod is connected in the horizontal sliding groove in a sliding mode, one end of the telescopic rod is fixedly connected with the top of the main wheel leg, a rack is welded on the telescopic rod, a tooth part of the rack is provided with a tooth moving motor, an output shaft of the tooth moving motor is welded with a tooth moving wheel, the tooth moving wheel is movably meshed with the rack, a power supply end of the tooth moving motor is electrically connected with a storage battery, and a control end of the tooth moving motor is electrically connected with a main control chip.
Preferably, the main wheel leg inside be equipped with vertical spout, vertical spout sliding connection have No. two telescopic links, No. two telescopic link lower extremes install the supporting wheel, No. two telescopic links on the welding have No. two racks, the tooth portion of No. two racks be furnished with No. two tooth and move the motor, the output shaft of No. two tooth and move the motor on the welding have No. two tooth and move the wheel, No. two tooth driving wheels and No. two rack tooth move the meshing, No. two tooth move the power end and the battery electric connection of motor, No. two tooth move the control end and the main control chip electric connection of motor.
The utility model discloses can adopt and drag line or battery to supply power, can improve in the operation that carries on of environment of difference the utility model discloses an application scope.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a side view of the present invention.
Figure 3 is the structure schematic diagram of the utility model after the girder is extended.
Fig. 4 is a schematic structural view of the extended main beam and main wheel legs of the present invention.
Fig. 5 is a schematic structural diagram of the present invention when crossing an obstacle.
Fig. 6 is the internal structure schematic diagram of the utility model when the girder is not extended.
Fig. 7 is the internal structure schematic diagram of the extended girder of the present invention.
Fig. 8 is a schematic view of the internal structure of the main wheel leg of the present invention when it is not extended.
Fig. 9 is a schematic view of the extended inner structure of the main wheel leg of the present invention.
Detailed Description
The technical solution of the present invention is further specifically described below by way of examples and with reference to the accompanying drawings.
Example (b): the invention is further explained according to the attached drawings 1, 2, 3, 4, 5, 6, 7, 8 and 9. the wheel-leg robot with adjustable span height of the embodiment comprises a telescopic main beam 1, a PCB is arranged in the middle of the inner part of the main beam 1, a main control chip 2 is arranged on the PCB, the left side and the right side of the main beam 1 are respectively provided with a telescopic main wheel leg 3, the top of the main wheel leg 3 is provided with a storage battery 4, the lower end of the main wheel leg 3 is provided with a driving motor 5, the output shaft of the driving motor 5 is provided with a driving wheel 6, the front end of the driving motor 5 is provided with a supporting wheel 7 matched with the driving wheel 6 for use, the power end of the main control chip 2 and the power end of the driving motor 5 are respectively and electrically connected with the storage battery 4, and the control end of the driving motor 5 is electrically connected with the main control chip 2.
The main control chip 2 be singlechip ATMEGA _32, the other electric connection of main control chip 2 have 2 axle gyroscopes IR2184, driving motor 5's output shaft on be equipped with angle sensor IRF1405, angle sensor IRF1405 and main control chip 2 electric connection.
The inside left and right sides of girder 1 be equipped with horizontal chute 8 respectively, be equipped with the PCB board in the middle of two horizontal chutes 8, horizontal chute 8 sliding connection have telescopic link 9 No. one, 9 one end of telescopic link and 3 top fixed connection of main wheel leg, telescopic link 9 on the welding have a rack 10, the tooth portion of rack 10 be furnished with a tooth and move motor 11, the output shaft of a tooth and move motor 11 on the welding have a tooth and move wheel 12, tooth and move wheel 12 and 10 tooth of rack and move the meshing, a power end and the battery 4 electric connection of tooth and move motor 11, the control end and the 2 electric connection of main control chip of a tooth and move motor 11.
The inside vertical spout 13 that is equipped with of main wheel leg 3, vertical spout 13 in sliding connection have No. two telescopic links 14, No. two telescopic links 14 lower extreme install supporting wheel 7, No. two telescopic links 14 on the welding have No. two racks 15, No. two racks 15 the tooth portion be furnished with No. two tooth and move motor 16, No. two tooth move motor 16's output shaft on the welding have No. two tooth movable wheels 17, No. two tooth movable wheels 17 and No. two 15 tooth movable meshing of rack, No. two tooth movable motor 16's power end and battery 4 electric connection, No. two tooth movable motor 16's control end and main control chip 2 electric connection.
The above description is only for the specific embodiment of the present invention, but the structural features of the present invention are not limited thereto, and any person skilled in the art can make changes or modifications within the scope of the present invention.
Claims (4)
1. A wheel-leg robot with adjustable span and height, which comprises a telescopic main beam (1), a PCB is arranged in the middle of the inner part of the main beam (1), a main control chip (2) is arranged on the PCB, it is characterized in that the left side and the right side of the main beam (1) are respectively provided with a telescopic main wheel leg (3), the top of the main wheel leg (3) is provided with a storage battery (4), the lower end of the main wheel leg (3) is provided with a driving motor (5), a driving wheel (6) is arranged on an output shaft of the driving motor (5), a supporting wheel (7) matched with the driving wheel (6) for use is arranged at the front end of the driving motor (5), the power end of the main control chip (2) and the power end of the driving motor (5) are respectively electrically connected with the storage battery (4), and the control end of the driving motor (5) is electrically connected with the main control chip (2).
2. The span-span height-adjustable wheel-legged robot of claim 1, characterized in that the main control chip (2) is a single chip microcomputer ATMEGA _32, a 2-axis gyroscope IR2184 is electrically connected beside the main control chip (2), an angle sensor IRF1405 is installed on an output shaft of the driving motor (5), and the angle sensor IRF1405 is electrically connected with the main control chip (2).
3. The robot of claim 1, wherein the robot is a wheel-legged robot having a span length adjustable, the left side and the right side of the inner part of the main beam (1) are respectively provided with a horizontal sliding chute (8), a PCB is arranged between the two horizontal sliding chutes (8), a first telescopic rod (9) is connected in the horizontal sliding chute (8) in a sliding way, one end of the first telescopic rod (9) is fixedly connected with the top of the main wheel leg (3), a first rack (10) is welded on the first telescopic rod (9), a tooth part of the first rack (10) is provided with a first toothed motor (11), a first gear moving wheel (12) is welded on an output shaft of the first gear moving motor (11), the first gear moving wheel (12) is in gear-moving engagement with the first rack (10), the power end of the first gear moving motor (11) is electrically connected with the storage battery (4), the control end of the first gear motor (11) is electrically connected with the main control chip (2).
4. The robot of claim 1, wherein the robot is a wheel-legged robot having a span length adjustable, a vertical sliding chute (13) is arranged in the main wheel leg (3), a second expansion link (14) is connected in the vertical sliding chute (13) in a sliding way, the lower end of the second telescopic rod (14) is provided with a supporting wheel (7), a second rack (15) is welded on the second telescopic rod (14), the tooth part of the second rack (15) is provided with a second toothed motor (16), the output shaft of the second toothed motor (16) is welded with a second toothed wheel (17), the second toothed moving wheel (17) is in toothed meshing with the second rack (15), the power end of the second toothed moving motor (16) is electrically connected with the storage battery (4), and the control end of the second geared motor (16) is electrically connected with the main control chip (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921269307.6U CN210361335U (en) | 2019-08-07 | 2019-08-07 | Span height-adjustable wheel-leg robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921269307.6U CN210361335U (en) | 2019-08-07 | 2019-08-07 | Span height-adjustable wheel-leg robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210361335U true CN210361335U (en) | 2020-04-21 |
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ID=70249447
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921269307.6U Expired - Fee Related CN210361335U (en) | 2019-08-07 | 2019-08-07 | Span height-adjustable wheel-leg robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210361335U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111644955A (en) * | 2020-05-25 | 2020-09-11 | 浙江固本精密机械有限公司 | Four-shaft linkage tooth grinding machine for one-time numerical control forming grinding thread rolling plate |
-
2019
- 2019-08-07 CN CN201921269307.6U patent/CN210361335U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111644955A (en) * | 2020-05-25 | 2020-09-11 | 浙江固本精密机械有限公司 | Four-shaft linkage tooth grinding machine for one-time numerical control forming grinding thread rolling plate |
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Legal Events
| 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: 20200421 |