技术领域technical field
本发明涉及一种移动机器人领域的装置，具体地，涉及一种轮履腿复合式移动机器人。The invention relates to a device in the field of mobile robots, in particular to a wheel-track-leg compound mobile robot.
背景技术Background technique
随着社会的发展和科技的进步，机器人的智能化程度越来越高，在复杂环境下的使用也越来越多。移动机器人作为机器人学中的一个重要分支，在侦查、巡视、警戒、扫雷排险等危险与恶劣环境中有着广泛的应用。但在实际应用中仍有许多问题需要解决，对移动机器人来说，在非结构化环境中长久生存和稳定工作是一个巨大考验，特别是当机器人无法避开障碍物或复杂地形，而是要跨越或适应复杂环境时，越障能力对机器人来说就显得更加重要。With the development of society and the advancement of technology, robots are becoming more and more intelligent, and they are used more and more in complex environments. As an important branch of robotics, mobile robots are widely used in dangerous and harsh environments such as investigation, patrolling, alerting, and mine clearance. However, there are still many problems to be solved in practical applications. For mobile robots, long-term survival and stable work in an unstructured environment are a huge challenge, especially when the robot cannot avoid obstacles or complex terrain, but must When crossing or adapting to complex environments, the ability to overcome obstacles is even more important for robots.
轮式机器人具有结构简单、控制方便、运动灵活等优点，但其地形适应能力一般，越障能力有限，无法跨越沟壑、台阶等障碍。腿式机器人是根据仿生学原理设计，腿式机构能满足特殊的要求，适应环境能力较强，但是也存在机构繁多、控制复杂、运动缓慢、制造困难等缺点。履带式机器人相对轮式机器人有更好的越障能力，更强的环境的适应能力，相对腿式机器人有更简洁的机构和更好的稳定性，但是履带式机器人机构重量大、能耗高、运行效率低、装配维护困难。复合式机器人则是将上述三种基本结构进行组合，形成轮腿式、轮履式、轮履腿式等。Wheeled robots have the advantages of simple structure, convenient control, and flexible movement, but their ability to adapt to terrain is average, and their ability to overcome obstacles is limited, and they cannot cross obstacles such as ravines and steps. The legged robot is designed according to the principle of bionics. The legged mechanism can meet special requirements and has a strong ability to adapt to the environment. However, it also has disadvantages such as numerous mechanisms, complicated control, slow movement, and difficult manufacturing. Compared with wheeled robots, crawler robots have better obstacle-surmounting ability and stronger environmental adaptability. Compared with legged robots, crawler robots have simpler mechanisms and better stability, but crawler robots have heavy weight and high energy consumption. , Low operating efficiency, difficult assembly and maintenance. The composite robot combines the above three basic structures to form a wheel-leg type, wheel-track type, wheel-track-leg type, etc.
查找相关文献可知，近年来也有很多关于地面移动机器人的研究，例如瑞士洛桑联邦理工学院研制的一款六轮SHrimp六轮移动机器人，日本东京工业大学的TITAN-VIII行走机器人以及美国iRobot公司的履带式机器人PackBot等，但是这些机器人都不能很好地体现轮履腿复合式移动机器人的优点，在运动能力、越障能力和灵活性上仍有缺陷。Searching relevant literature shows that there have been many studies on ground mobile robots in recent years, such as a six-wheeled SHrimp six-wheeled mobile robot developed by the Swiss Federal Institute of Technology in Lausanne, the TITAN-VIII walking robot of Tokyo Institute of Technology in Japan, and the tracked robot of iRobot Corporation of the United States. PackBot etc., but these robots all can not embody the advantage of wheel-track-legged compound mobile robot well, still have defect on motion ability, obstacle-surmounting ability and flexibility.
中国专利号：201210126986.8，发明名称“轮履腿复合式移动机器人”，其基本结构由两条主履带、两条前摆臂履带、两条后摆臂履带和车体组成；所述前摆臂履带和后摆臂履带的两端分别通过履带轴与车体及主履带活动连接形成平行四边形传动机构并置于车体的两侧；所述后摆臂履带的履带轴与驱动装置传动连接；并通过动力传递实现前、后摆臂履带架的转动。Chinese patent number: 201210126986.8, the name of the invention is "wheel-track-leg compound mobile robot", its basic structure is composed of two main crawlers, two front swing arm crawlers, two rear swing arm crawlers and a car body; The two ends of the crawler belt and the rear swing arm crawler belt are respectively movably connected with the vehicle body and the main crawler belt through the crawler shaft to form a parallelogram transmission mechanism and placed on both sides of the vehicle body; the crawler belt shaft of the rear swing arm crawler belt is connected to the drive device through transmission; The rotation of the front and rear swing arm track frames is realized through power transmission.
上述发明的执行机构都是由履带构成，结构复杂，重量大，整个机器人再运动过程中过于笨重，且运动模式的切换都是基于平行四边形结构的运动，在遇到复杂地形时模式转换较简单，没有严格意义上的轮式机构和腿式机构，从而无法正真体现轮式运动简易、轻巧和腿式运动的灵活、多变的优点。The actuators of the above-mentioned inventions are all composed of crawlers, with complex structures and heavy weights. The entire robot is too bulky during the re-movement process, and the switching of motion modes is based on the movement of the parallelogram structure. When encountering complex terrain, the mode conversion is relatively simple. , there is no wheel mechanism and leg mechanism in the strict sense, thus can not truly reflect the flexible and changeable advantages of wheel movement, lightness and leg movement.
发明内容Contents of the invention
针对现有技术中的不足，本发明提供一种轮履腿复合式移动机器人，具有轮式、履带式和腿式机器人的优点，能进行轮履腿复合式运动，在运动能力、越障能力和灵活性上有很大提升，适用于多种场合。Aiming at the deficiencies in the prior art, the present invention provides a wheel-track-leg compound mobile robot, which has the advantages of wheel-type, crawler-type and leg-type robots, and can carry out wheel-track-leg compound movement, and has excellent performance in terms of movement ability and obstacle-surmounting ability. And the flexibility has been greatly improved, which is suitable for many occasions.
为实现以上目的，本发明提供的一种轮履腿复合式移动机器人，包括车架、履带臂、支撑腿、轮式升降机构四部分，其中：In order to achieve the above purpose, a wheel-track-leg compound mobile robot provided by the present invention includes four parts: a vehicle frame, a track arm, a supporting leg, and a wheel-type lifting mechanism, wherein:
所述履带臂至少四套，四套履带臂对称分布于车架的四角，四套履带臂分别通过内轴和外轴与车架相连接；内轴和外轴位于同一轴线，按照内外轴嵌套的方式对称分布于车架的四角；There are at least four sets of track arms, and the four sets of track arms are symmetrically distributed at the four corners of the vehicle frame. The four sets of track arms are respectively connected to the vehicle frame through the inner shaft and the outer shaft; The sleeves are distributed symmetrically at the four corners of the frame;
所述支撑腿至少两条，支撑腿对称分布于车架的前后，支撑腿分别通过车架中的支撑腿传动轴和车架相连接；There are at least two supporting legs, the supporting legs are symmetrically distributed in the front and rear of the vehicle frame, and the supporting legs are respectively connected to the vehicle frame through the supporting leg transmission shaft in the vehicle frame;
所述轮式升降机构设置在车架中部，轮式升降机构通过连接板与车架相连接；The wheel-type lifting mechanism is arranged in the middle of the frame, and the wheel-type lifting mechanism is connected with the frame through a connecting plate;
所述车架作为履带臂、支撑腿、轮式升降机构的载体；所述车架包括车架主体、步进电机、滑轨装置、四个直流电机、两个行星齿轮减速电机、两个蜗轮蜗杆减速电机、两个支撑腿传动轴，其中：步进电机固定在车架主体上并与轮式升降机构连接，步进电机用于驱动轮式升降机构进行上升和下降运动；滑轨装置与步进电机连接，滑轨装置用于在轮式升降机构上升和下降运动时起到导向作用；四个直流电机对称分布于车架的四角并分别通过内轴与四套履带臂连接，用于驱动四套履带臂进行转动；两个行星齿轮减速电机安装在车架主体上，两个支撑腿传动轴与两个行星齿轮减速电机连接，两个行星齿轮减速电机用于驱动两个支撑腿传动轴；两个蜗轮蜗杆减速电机安装在车架主体上并位于两个行星齿轮减速电机的内侧，两个蜗轮蜗杆减速电机通过外轴与两侧的履带臂连接，用于将运动传递到四个履带臂，驱动四个履带臂进行摆动；The vehicle frame is used as the carrier of the crawler arm, supporting legs, and wheel-type lifting mechanism; the vehicle frame includes a vehicle frame body, a stepping motor, a slide rail device, four DC motors, two planetary gear motors, two worm gears Worm gear motor, two supporting leg transmission shafts, wherein: the stepper motor is fixed on the main body of the frame and connected with the wheel-type lifting mechanism, and the stepping motor is used to drive the wheel-type lifting mechanism to move up and down; the slide rail device and The stepper motor is connected, and the slide rail device is used to play a guiding role when the wheel-type lifting mechanism is raised and lowered; the four DC motors are symmetrically distributed at the four corners of the frame and connected to the four sets of crawler arms through the inner shaft respectively, for Drive four sets of crawler arms to rotate; two planetary gear motors are installed on the main body of the frame, and the transmission shafts of the two supporting legs are connected to the two planetary gear motors, and the two planetary gear motors are used to drive the transmission of the two supporting legs Shaft; two worm gear motors are installed on the main body of the frame and located inside the two planetary gear motors, and the two worm gear motors are connected with the crawler arms on both sides through the outer shafts to transmit the motion to the four Track arm, driving four track arms to swing;
所述车架中的电机分别驱动履带臂、支撑腿和轮式升降机构运动，使所述机器人具有不同姿态，实现轮、履、腿复合运动方式，提升所述机器人的越障能力。The motors in the vehicle frame respectively drive the crawler arms, supporting legs and wheel-type lifting mechanism to move, so that the robot has different postures, realizes the compound motion mode of wheels, shoes and legs, and improves the obstacle-surmounting ability of the robot.
优选地，所述车架主体采用两个长角铝平行布置构成，步进电机固定在两个长角铝的中部并与轮式升降机构连接，两个行星齿轮减速电机分别安装在两个长角铝的前、后位置，两个蜗轮蜗杆减速电机一前一后分别安装固定在两个长角铝中间并位于两个行星齿轮减速电机的内侧。Preferably, the main body of the vehicle frame is composed of two long-angle aluminums arranged in parallel, the stepper motor is fixed in the middle of the two long-angle aluminums and connected with the wheel-type lifting mechanism, and the two planetary gear motors are installed on the two long-angled aluminum respectively. For the front and rear positions of the angle aluminum, two worm gear reducer motors are respectively installed and fixed in the middle of the two long angle aluminum and are located inside the two planetary gear reducer motors.
优选地，每套所述履带臂均包括两块履带板、驱动轮、三个从动轮、履带、张紧装置，其中：两块履带板均为竖直方向对称的四边形结构；三个从动轮通过轴承和轴固定在两块履带板之间；履带包裹住一个驱动轮和三个从动轮；张紧装置固定在两块履带板之间，用于调节驱动轮和对角从动轮的距离以达到张紧履带的作用。Preferably, each set of track arms includes two track shoes, a driving wheel, three driven wheels, a track, and a tensioning device, wherein: the two track shoes are vertically symmetrical quadrilateral structures; the three driven wheels It is fixed between two track shoes through bearings and shafts; the track wraps a driving wheel and three driven wheels; the tensioning device is fixed between the two track shoes to adjust the distance between the driving wheel and the diagonally driven wheels To achieve the effect of tensioning the track.
更优选地，车架中的直流电机通过内轴与驱动轮连接固定，直流电机转动并驱动驱动轮运动，驱动轮通过履带将动力传递给三个从动轮，履带顺利转动，从而实现所述机器人的履带式运动模式。More preferably, the DC motor in the vehicle frame is connected and fixed to the driving wheel through the inner shaft, the DC motor rotates and drives the driving wheel to move, the driving wheel transmits power to the three driven wheels through the track, and the track rotates smoothly, thereby realizing the robot crawler movement mode.
优选地，每条所述支撑腿均包括两块支撑板和一个从动支撑轮，其中：从动支撑轮安装于两块支撑板中间；两块支撑板连接于车架中的支撑腿传动轴上，从而实现支撑腿与车架的连接。Preferably, each of the supporting legs includes two supporting plates and a driven supporting wheel, wherein: the driven supporting wheel is installed between the two supporting plates; the two supporting plates are connected to the supporting leg transmission shaft in the vehicle frame , so as to realize the connection between the supporting legs and the frame.
更优选地，车架中的前、后两个行星齿轮减速电机的运动分别带动两条支撑腿传动轴运动，与支撑腿传动轴连接的支撑板与从动支撑轮随之运动，从而实现对两个支撑腿的驱动，进而实现所述机器人的腿式运动模式。More preferably, the movement of the front and rear planetary gear reduction motors in the vehicle frame drives the two supporting leg transmission shafts to move respectively, and the supporting plate and driven supporting wheel connected with the supporting leg transmission shaft move accordingly, thereby realizing the The drive of the two supporting legs, and then realize the legged motion mode of the robot.
优选地，所述轮式升降机构包括连接板、车轮驱动装置、两个车轮、两个万向轮，其中：连接板固定于车架主体上，车架中的步进电机固定于连接板上；车轮驱动装置的前后两侧连接滑轨装置以顺利实现上下运动的导向，车轮驱动装置的左右两侧连接两个车轮，用于驱动两个车轮运动；两个万向轮对称安装在轮式升降机构的底部，并与两个车轮形成对称四边形结构。Preferably, the wheeled lifting mechanism includes a connecting plate, a wheel driving device, two wheels, and two universal wheels, wherein: the connecting plate is fixed on the main body of the frame, and the stepping motor in the frame is fixed on the connecting plate ; The front and rear sides of the wheel driving device are connected to the slide rail device to smoothly realize the guidance of the up and down movement, and the left and right sides of the wheel driving device are connected to two wheels for driving the movement of the two wheels; The bottom of the lifting mechanism and forms a symmetrical quadrilateral structure with the two wheels.
更优选地，路况较平时，通过车架中的两个蜗轮蜗杆减速电机和前、后两个行星齿轮减速电机的运动分别将履带臂和支撑腿分别举起，车架中的步进电机转动使轮式升降机构下降到一个合适的位置，利用车轮驱动装置驱动两个车轮运动，配合两个万向轮实现所述机器人的轮式运动模式。More preferably, when the road conditions are relatively normal, the crawler arm and the support leg are respectively lifted by the movement of the two worm gear motors in the frame and the two planetary gear motors in the front and rear, and the stepping motor in the frame rotates The wheeled lifting mechanism is lowered to a suitable position, and the wheel driving device is used to drive the two wheels to move, and the two universal wheels are used to realize the wheeled movement mode of the robot.
与现有技术相比，本发明具有如下的有益效果：Compared with the prior art, the present invention has the following beneficial effects:
本发明的轮履腿复合式移动机器人通过将轮式、履带式和腿式运动方式相结合，克服了纯轮式适应地形能力一般，越障能力有限，纯履带式机器人速度慢、功耗大的以及纯腿式机器人机构繁多、控制复杂、运动缓慢等缺点，使机器人能够实现轮履腿复合式运动，既保持该机器人非常高的地形适应性和通过性，又能保证其较快的行驶速度，在运动能力、越障能力和灵活性上有很大提高。The wheel-track-leg compound mobile robot of the present invention combines the wheel-type, crawler-type and leg-type movement modes to overcome the general terrain adaptability of the pure wheel type, limited ability to overcome obstacles, and the slow speed and high power consumption of the pure crawler type robot. The shortcomings of pure legged robots, such as numerous mechanisms, complex control, and slow movement, enable the robot to realize the compound movement of wheels and legs, which not only maintains the robot's very high terrain adaptability and passability, but also ensures its fast driving. Speed has been greatly improved in athletic ability, obstacle-surmounting ability and flexibility.
附图说明Description of drawings
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:
图1为本发明一较优实施例的整体结构示意图；Fig. 1 is the overall structure schematic diagram of a preferred embodiment of the present invention;
其中：车架1，履带臂2，支撑腿3，轮式升降机构4，步进电机5，行星齿轮减速电机6，蜗轮蜗杆减速电机7，滑轨装置8，长角铝9，支撑腿传动轴10，履带板11，驱动轮12，从动轮13，履带14，张紧装置15，支撑板16，从动支撑轮17，连接板18，车轮驱动装置19，车轮20，万向轮21。Among them: frame 1, crawler arm 2, supporting leg 3, wheel lifting mechanism 4, stepping motor 5, planetary gear motor 6, worm gear motor 7, slide rail device 8, long-angle aluminum 9, supporting leg drive Axle 10, track shoe 11, driving wheel 12, driven wheel 13, crawler belt 14, tensioning device 15, support plate 16, driven support wheel 17, connecting plate 18, wheel driving device 19, wheel 20, universal wheel 21.
具体实施方式detailed description
下面结合具体实施例对本发明进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本发明，但不以任何形式限制本发明。应当指出的是，对本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进。这些都属于本发明的保护范围。The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.
如图1所示，一种轮履腿复合式移动机器人，包括：车架1、履带臂2、支撑腿3、轮式升降机构4，其中：所述车架1作为履带臂2、支撑腿3、轮式升降机构4的载体；四套所述履带臂2对称分布于车架1的四角，履带臂2通过内轴和外轴与车架1相连接；两条所述支撑腿3对称分布于车架1的前后，支撑腿3通过支撑腿传动轴10和车架1相连接；所述轮式升降机构4设置在车架1中部，轮式升降机构4通过连接板18与车架1相连接；As shown in Figure 1, a wheel-track-leg compound mobile robot includes: a vehicle frame 1, a crawler arm 2, a support leg 3, and a wheel-type lifting mechanism 4, wherein: the vehicle frame 1 serves as the crawler arm 2, the support leg 3. The carrier of the wheel-type lifting mechanism 4; the four sets of track arms 2 are symmetrically distributed on the four corners of the vehicle frame 1, and the track arms 2 are connected to the vehicle frame 1 through the inner shaft and the outer shaft; the two support legs 3 are symmetrical Distributed at the front and back of the vehicle frame 1, the supporting legs 3 are connected to the vehicle frame 1 through the supporting leg transmission shaft 10; 1 phase connection;
通过电机驱动履带臂2、支撑腿3和轮式升降机构4运动，使机器人具有不同姿态，实现轮履腿复合运动方式，在越障能力上有很大提升。The motor drives the crawler arm 2, the support leg 3 and the wheel-type lifting mechanism 4 to move, so that the robot has different postures, realizes the wheel-track-leg compound motion mode, and greatly improves the obstacle-surmounting ability.
在一实施例中，所述车架1包括步进电机5、两个行星齿轮减速电机6、两个蜗轮蜗杆减速电机7、滑轨装置8、两个长角铝9、两个支撑腿传动轴10和四个直流电机，其中：In one embodiment, the frame 1 includes a stepping motor 5, two planetary gear motors 6, two worm gear motors 7, a slide rail device 8, two long-angle aluminum 9, two supporting leg transmission Axis 10 and four DC motors, of which:
两个长角铝9平行布置构成车架1的主体；步进电机5固定在车架1中部，用于驱动轮式升降机构4进行上升和下降运动；滑轨装置8和步进电机5连接，用于在轮式升降机构4上升和下降运动的时候起到导向作用；两个行星齿轮减速电机6分别安装在两个长角铝9的前后位置，两个支撑腿传动轴10分别和两个行星齿轮减速电机6连接，两个行星齿轮减速电机6用于分别驱动两个支撑腿传动轴10；两个蜗轮蜗杆减速电机7一前一后夹在两个长角铝9中间并相互固定，两个蜗轮蜗杆减速电机7分别通过外轴与前后两侧的履带臂2连接，用于将运动传递到四个履带臂2，驱动四个履带臂2进行摆动；四个直流电机对称分布于车架1的四角并分别通过内轴与四套履带臂2连接，用于驱动四套履带臂2进行转动。Two long-angled aluminum 9s are arranged in parallel to form the main body of the frame 1; a stepping motor 5 is fixed in the middle of the frame 1 for driving the wheel-type lifting mechanism 4 to move up and down; the slide rail device 8 is connected to the stepping motor 5 , used to play a guiding role when the wheeled lifting mechanism 4 moves up and down; two planetary gear reduction motors 6 are respectively installed at the front and rear positions of the two long-angle aluminum 9, and the two supporting leg drive shafts 10 are respectively connected to the two Two planetary gear reduction motors 6 are connected, and the two planetary gear reduction motors 6 are used to respectively drive the two supporting leg transmission shafts 10; two worm gear reduction motors 7 are clamped in the middle of two long-angle aluminum 9 one after the other and fixed to each other. , two worm gear motors 7 are respectively connected to the crawler arms 2 on the front and rear sides through the outer shaft, and are used to transmit the motion to the four crawler arms 2 to drive the four crawler arms 2 to swing; the four DC motors are symmetrically distributed in The four corners of the vehicle frame 1 are respectively connected with the four sets of crawler arms 2 through inner shafts, and are used to drive the four sets of crawler arms 2 to rotate.
在一实施例中，每套所述履带臂2均包括两块履带板11、驱动轮12、三个从动轮13、履带14、张紧装置15，其中：两块履带板11均为竖直方向对称的四边形结构；三个从动轮13通过轴承和轴固定在两块履带板11之间；张紧装置15通过螺栓固定在两块履带板11之间，用于调节驱动轮12和对角从动轮13的距离以达到张紧履带14的作用；履带14包裹住驱动轮12与三个从动轮13；直流电机转动并驱动驱动轮12运动，驱动轮12的动力通过履带14传递给三个从动轮13，履带14顺利转动，从而可以实现机器人的履带式运动模式。In one embodiment, each track arm 2 includes two track shoes 11, a driving wheel 12, three driven wheels 13, a track 14, and a tensioning device 15, wherein the two track shoes 11 are vertical The quadrilateral structure is symmetrical in direction; the three driven wheels 13 are fixed between the two track shoes 11 through bearings and shafts; the tensioning device 15 is fixed between the two track shoes 11 by bolts, and is used to adjust the driving wheel 12 and the diagonal The distance from the driven wheel 13 is to achieve the effect of tensioning the track 14; the track 14 wraps the driving wheel 12 and the three driven wheels 13; the DC motor rotates and drives the driving wheel 12 to move, and the power of the driving wheel 12 is transmitted to the three driven wheels through the track 14 Driven wheel 13, crawler belt 14 rotate smoothly, thereby can realize the crawler type motion mode of robot.
在一实施例中，每条所述支撑腿3均包括两块支撑板16和一个从动支撑轮17，其中：从动支撑轮17固定于两块支撑板16中间；两块支撑板16连接于车架1中的支撑腿传动轴10上；两个行星齿轮减速电机6的运动通过支撑腿传动轴10将动力传递到两个支撑腿3上，从而实现对两个支撑腿3的驱动，进而实现机器人的腿式运动模式。In one embodiment, each of the supporting legs 3 includes two supporting plates 16 and a driven supporting wheel 17, wherein: the driven supporting wheel 17 is fixed in the middle of the two supporting plates 16; the two supporting plates 16 are connected On the supporting leg transmission shaft 10 in the vehicle frame 1; the movement of the two planetary gear reduction motors 6 transmits power to the two supporting legs 3 through the supporting leg transmission shaft 10, thereby realizing the driving of the two supporting legs 3, And then realize the legged motion mode of the robot.
在一实施例中，所述轮式升降机构4包括连接板18、车轮驱动装置19、两个车轮20、两个万向轮21，其中：轮式升降机构4通过连接板18和车架1连接；车架1中的步进电机5固定于连接板18上；车轮驱动装置19的前后两侧连接滑轨装置8以顺利实现上下运动的导向，车轮驱动装置19的左右两侧连接两个车轮20，用于驱动两个车轮20运动；两个万向轮21对称安装在轮式升降机构4的底部，并与两个车轮20形成对称四边形结构；步进电机5转动使轮式升降机构4下降到一个合适的位置，利用车轮驱动装置19驱动两个车轮20运动，并配合两个万向轮21实现机器人的轮式运动模式。In one embodiment, the wheeled lifting mechanism 4 includes a connecting plate 18, a wheel driving device 19, two wheels 20, and two universal wheels 21, wherein: the wheeled lifting mechanism 4 passes through the connecting plate 18 and the vehicle frame 1 connection; the stepper motor 5 in the vehicle frame 1 is fixed on the connecting plate 18; the front and rear sides of the wheel drive unit 19 are connected with the slide rail device 8 to smoothly realize the guidance of the up and down movement, and the left and right sides of the wheel drive unit 19 are connected with two The wheels 20 are used to drive the two wheels 20 to move; the two universal wheels 21 are symmetrically installed on the bottom of the wheel lifting mechanism 4, and form a symmetrical quadrilateral structure with the two wheels 20; the stepper motor 5 rotates to make the wheel lifting mechanism 4. Lower to a suitable position, use the wheel driving device 19 to drive the two wheels 20 to move, and cooperate with the two universal wheels 21 to realize the wheeled movement mode of the robot.
在一实施例中，通过所述轮式升降机构4的运动、所述履带臂2的转动以及所述支撑腿3的摆动可以实现轮式、履带式和腿式运动模式的切换，实现轮、履、腿复合式运动，使机器人在运动能力、越障能力和灵活性上有很大提高；具体实现方式为：In one embodiment, through the movement of the wheel lifting mechanism 4, the rotation of the crawler arm 2 and the swing of the support leg 3, the switching of the wheel, crawler and leg movement modes can be realized, and the wheel, crawler and leg movement modes can be realized. The compound movement of shoes and legs greatly improves the robot's ability to move, overcome obstacles and flexibility; the specific implementation method is as follows:
当路况较好、地面平整时，通过两个蜗轮蜗杆减速电机和前、后两个行星齿轮减速电机6的运动分别将履带臂2和支撑腿3分别举起，车架1上的步进电机5转动使轮式升降机构4下降到一个合适的位置，利用轮式升降机构4上的车轮驱动装置19驱动两个车轮20运动，并配合两个万向轮21实现所述机器人的轮式运动模式；When the road conditions are good and the ground is flat, the crawler arm 2 and the support leg 3 are respectively lifted by the motion of the two worm gear motors and the front and rear planetary gear motors 6, and the stepper motor on the frame 1 5 Rotate to lower the wheeled lifting mechanism 4 to a suitable position, use the wheel drive device 19 on the wheeled lifting mechanism 4 to drive the two wheels 20 to move, and cooperate with the two universal wheels 21 to realize the wheeled movement of the robot model;
当路况较差、路面不平时，通过步进电机5将轮式升降机构4升起，同时利用车架1中的前、后两个行星齿轮减速电机6的运动分别举起两条支撑腿3，然后分布于车架1前、后的蜗轮蜗杆减速电机7能使履带臂2摆动到合适位置，分布于车架1四角的直流电机则能带动履带臂2转动，从而实现所述机器人的履带式运动；When the road conditions are poor and the road surface is uneven, the wheeled lifting mechanism 4 is raised by the stepper motor 5, and the two support legs 3 are respectively lifted by the motion of the front and rear planetary gear reduction motors 6 in the vehicle frame 1. , and then the worm gear reducer motor 7 distributed in the front and rear of the vehicle frame 1 can make the track arm 2 swing to a suitable position, and the DC motors distributed in the four corners of the vehicle frame 1 can drive the track arm 2 to rotate, thereby realizing the crawler of the robot. type of movement;
当路面崎岖或有较大的障碍物时，可以利用车架1前、后的蜗轮蜗杆减速电机7将履带臂2举起，同时利用步进电机5将轮式升降机构4升起，通过车架1前、后两个行星齿轮减速电机6驱动两条支撑腿3运动和越障，从而实现所述机器人的腿式运动模式。When the road surface is rough or there are larger obstacles, the crawler arm 2 can be lifted by the worm gear motor 7 at the front and rear of the vehicle frame 1, and the wheel lifting mechanism 4 can be lifted by the stepping motor 5 at the same time, and the vehicle can pass through Two planetary gear reduction motors 6 at the front and rear of the frame 1 drive the two supporting legs 3 to move and overcome obstacles, thereby realizing the legged movement mode of the robot.
本发明在结构上包括了轮式机构、履带式机构和腿式机构，在结构上层次分明、重量较小，控制上简单高效，性能上稳定可靠，可根据不同的情况，切换不同的运动模式，实现轮式、履带式、腿式以及复合式运动模式的优点。The present invention includes a wheel mechanism, a crawler mechanism and a leg mechanism in structure. It has clear layers in structure, small weight, simple and efficient control, stable and reliable performance, and can switch between different motion modes according to different situations. , to realize the advantages of wheeled, tracked, legged and compound exercise modes.
以上对本发明的具体实施例进行了描述。需要理解的是，本发明并不局限于上述特定实施方式，本领域技术人员可以在权利要求的范围内做出各种变形或修改，这并不影响本发明的实质内容。Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510819928.7ACN105383586B (en) | 2015-11-23 | 2015-11-23 | Crawler leg composite movable robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510819928.7ACN105383586B (en) | 2015-11-23 | 2015-11-23 | Crawler leg composite movable robot |
| Publication Number | Publication Date |
|---|---|
| CN105383586Atrue CN105383586A (en) | 2016-03-09 |
| CN105383586B CN105383586B (en) | 2018-11-16 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510819928.7AActiveCN105383586B (en) | 2015-11-23 | 2015-11-23 | Crawler leg composite movable robot |
| Country | Link |
|---|---|
| CN (1) | CN105383586B (en) |
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| CN115339534A (en)* | 2022-09-21 | 2022-11-15 | 中煤科工集团重庆研究院有限公司 | Multi-crawler omnidirectional running device |
| CN115675669A (en)* | 2022-11-10 | 2023-02-03 | 中国人民解放军国防科技大学 | Wheel-fin composite obstacle-surpassing robot |
| CN115675669B (en)* | 2022-11-10 | 2025-09-09 | 中国人民解放军国防科技大学 | Wheel fin combined obstacle surmounting robot |
| CN116605320A (en)* | 2023-07-17 | 2023-08-18 | 浪潮软件科技有限公司 | Wheel-track arm combined type safety inspection robot |
| CN116605320B (en)* | 2023-07-17 | 2023-10-27 | 浪潮软件科技有限公司 | Wheel-track arm combined type safety inspection robot |
| Publication number | Publication date |
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| CN105383586B (en) | 2018-11-16 |
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