CN103287523B - The composite deformation mobile robot that a kind of elastic foot is combined with wheel type motion mechanism - Google Patents

Abstract

The invention provides a composite deformation mobile robot combining elastic feet and a wheeled motion mechanism, including a space body frame unit of the foot-wheel composite mobile deformation robot, a driving wheel driving unit, a driven wheel follower unit, four modularized leg units, Control sensing system unit, sealed housing, and power supply. The robot uses elastic feet instead of traditional rigid feet to increase the robot's motion stability, reduce the vibration and impact of the robot, and combine with the wheeled movement mode, which can not only ensure the rapid mobility and High efficiency, taking into account the complex mountain environment, urban terrain and other complex terrain, the excellent maneuverability and powerful obstacle-surpassing function of walking, crawling and climbing, the mobile robot with compound deformation of casters adopts modular design, and the relationship between each other They do not interfere with each other, are easy to maintain and replace, and the movement mode can be changed flexibly. The mutual transformation and coordination of foot and wheel movement improves the movement ability of the robot.

Description

A Composite Deformable Mobile Robot Combining Elastic Foot and Wheeled Kinematic Mechanism

technical field

The invention relates to the technical field of robots, in particular to a composite deformation mobile robot combined with elastic feet and wheeled motion mechanisms.

Background technique

At present, the traveling mechanisms of land robots mainly include wheeled, crawler and legged. Considering the characteristics of the moving speed of the ground traveling mechanism and the ability to adapt to the terrain, the propulsion speed and moving efficiency of the wheeled, crawler and legged mechanisms Decrease in turn, while the maneuverability and adaptability in complex terrain environments increase in turn. In order to adapt to various complex terrain environments and improve the propulsion efficiency, maneuverability and obstacle-surmounting ability of robots, robots with multiple mobile mechanisms are an important trend in the development of robotics in recent years. Among them, legged robots that adapt to various complex environments and wheeled robots with efficient autonomous mobility on flat ground have always been the core and hot topics in the field of mobile robot research.

After more than half a century of rapid development, wheeled mobile robots and legged robots have gone out of the laboratory and are widely used in factories, hospitals, homes, security, rescue and many other occasions, and have successfully served on the moon and Mars. Help human beings in scientific exploration. Therefore, if we can integrate the advantages of fast passing through the flat ground of the wheeled robot and the maneuverability and flexibility of the footed robot to adapt to complex environments, and develop a foot-wheel composite mobile robot, it will greatly expand its potential. The scope of application is expected to be widely used in complex mountainous environments and urban terrains to undertake various tasks such as transportation, investigation, monitoring, and riot prevention, and it can be developed into a disabled and future transportation tool. However, the foot-wheel compound deformation mobile robot puts forward higher technical requirements for the compound deformation mobile mechanical structure design and compound deformation mobile control strategy.

At present, domestic and foreign research on how to organically combine footed mechanisms and wheeled mechanisms is still in the preliminary exploration stage, which can be divided into two main ideas. One is to install the driving wheel on the bottom of the foot end and the rotating joint of the foot mechanism. For example, a foot-wheel combined quadruped robot proposed by Harbin Institute of Technology, and the Hylos robot designed by Paris VI University in France all install the wheel drive mechanism on the sole of the foot mechanism. In this design scheme, the robot consumes a lot of energy during the process of carrying the load, which reduces the wheeled moving speed of the robot and the stability of the robot. The other is realized by a specially designed elastic leg mechanism with wheel function. For example, the Quattroped robot designed by Taiwan National University is a conversion device that can be converted into a full-wheel or half-wheel structure, and the IMPASS robot designed by Stanford University is a frameless spoke wheel mechanism. The functions of feet and wheels are unified in a relatively weak independent mechanical structure, and the load capacity of the robot is greatly reduced. Generally speaking, these two design concepts have compromised the functions of the wheels and feet. The invention provides a foot-wheel compound deformation mobile robot with strong load capacity, which can pass efficiently in the irregular terrain environment by using the foot-type traveling mode alone, and only adopts the four-wheel rolling mode on the flat ground, which greatly improves the robot's performance. Excellent mobility and stability, and low control difficulty. In the complex terrain environment, the foot-wheel compound travel mode is adopted to improve the performance of the robot's ability to climb and overcome obstacles.

Contents of the invention

The object of the present invention is to provide a compound deformation mobile robot combining elastic feet and wheeled motion mechanisms. The compound mobile robot uses elastic feet instead of traditional rigid feet to increase the motion stability of the robot and reduce the vibration and impact force of the robot. , and combined with the wheeled movement method, it can not only ensure the fast mobility and high efficiency of wheeled travel on flat ground, but also take into account the complex mountainous environment, urban terrain and other complex terrain, such as walking, crawling and climbing Excellent maneuverability and powerful obstacle-surpassing function.

The purpose of the present invention is achieved through the following technical solutions:

A compound deformation mobile robot combined with elastic feet and wheeled motion mechanisms, including a space body frame unit of the foot-wheel compound mobile deformation robot, a driving wheel drive unit, a driven wheel follower unit, four modular leg units, a control sensor System unit, sealed case, and power supply.

The space body frame unit is a frame organization of a space structure, which has strong resistance to bending, torsion and load. The interior of the space body frame unit is mainly loaded with a control system unit, a power supply, a PC, a sensor unit, a sealed casing, and a load. The outside is mainly suspended with driving wheel drive unit, driven wheel follower unit and four modular leg units. The driving wheel drive unit and the driven wheel follower unit are respectively installed on the left and right sides and the front and rear sides of the space body frame unit, and the wheel drive system is fixedly installed on the bottom of the space body frame unit in a diamond-shaped structure. The four modular leg units are installed on the four fixed brackets on the two ends of the space frame unit of the body.

The active wheel driving unit of the foot-wheel compound deformation mobile robot, the left and right driving wheel driving units of the robot are all driven by a servo DC motor equipped with an encoder, and the torque is transmitted by a spur gear stage, a gear main shaft and a wheel mounting plate. To the driving wheel, a rotational motion is produced. The driving wheel adopts a common tire model, and the wheel drive system is connected with the space frame unit bolts of the body through the bottom of the drive block.

The driven wheel follower unit of the foot-wheel compound deformation mobile robot is composed of two pairs of universal wheel assemblies at the front and rear of the robot, without a driving motor. Installed under the bottom of the frame unit of the space body. It forms a rhombus configuration shape with the driving wheel drive system.

The four modularized leg units are four unified mammal-like leg structures, characterized in that the four legs are arranged symmetrically or in the same direction. Each robot leg is composed of ball screw driving device, joint rotation axis, hip joint support, hip joint orthogonal link frame, thigh support, elastic calf, and rubber sole. Excluding the ball screw drive device, the connection sequence of the main frame structure of the robot leg is from top to bottom: one end of the hip joint support is fixedly connected to the body, and the other end of the hip joint support is connected to the hip joint orthogonal link frame through the rotating joint axis , the other end of the hip joint orthogonal link bracket is connected with the thigh support through the rotating joint shaft, the other end of the thigh support is connected with the elastic calf through the rotating joint shaft, and the other end of the elastic calf is directly connected with the sole of the foot. Each leg structure contains three degrees of freedom, which can realize the three-dimensional movement of the robot, so that the robot has a strong ability to adapt to complex terrain and overcome obstacles. Each degree of freedom in the leg structure of the robot corresponds to a rotary joint, and each rotary joint is driven by an independent ball screw drive device to output linear motion, which is converted into rotary motion at the joint through the joint rotation axis. Due to the modular design of the robot legs, four configuration modes of the four legs can be realized only by adjusting the installation direction of the hip joint bracket and the hip joint orthogonal link frame.

Among them: the ball screw device driven by the servo motor is used as the driving method of the caster compound deformation mobile robot.

The working principle of the ball screw driving device is that the ball screw driving device outputs the rotary motion to the first-stage gear reducer through the servo motor assembly. Both ends of the large gear in the first-stage gear reducer are positioned and supported by single-row angular contact ball bearings, and adopt The cylindrical pin shaft is fixedly connected with the ball screw, and the first-stage gear reducer transmits the rotational motion and torque to the ball screw, and the ball screw pair converts the rotational motion transmitted by the motor output into the linear motion of the screw nut, and then drives the degree of freedom of the joint rotation movement.

The output shaft of the servo motor assembly of the ball screw drive device is indirectly connected to the ball screw shaft through a first-stage gear reducer, and the output shaft of the servo motor assembly and the ball screw are positioned in parallel with the shaft end, which solves the problem of motor The axial length of the component output shaft directly connected to the ball screw is long and occupies a large space. The axial length of the ball screw driving device is greatly reduced, and the design scheme of the gear box of the ball screw driving device is integrated. Guarantees the coaxiality requirements of the rotating motion between the box body and the thigh plate, and brings great convenience to the processing of parts.

The parameter selection of the motor assembly of the ball screw drive device at the rotary joint of each leg, the parameter selection of the ball screw pair and the size design of the gearbox adopt a modular design scheme, and only the spur gear reduction ratio is used in the first-stage gear reducer. Are not the same.

The composite mobile robot uses elastic legs instead of traditional rigid legs to improve the robot's ability to adapt to the ground environment, buffer the impact of the ground, and reduce the vibration of the body. The elastic device of the robot's calf structure is a spring, and the passive control unit link. And the bottom of the foot end is wrapped with rubber to increase the friction between the sole of the foot and the ground to partially buffer the impact of the robot on the ground.

The elastic shank is composed of a limit sleeve, a linearly moving housing, a screw rod, a spring and a nut. Relative linear motion can be generated between the limiting sleeve and the linearly moving housing, and the surface of the limiting sleeve has a limiting groove, and the positioning pin shaft is used to connect the linearly moving housing, which can limit the maximum deformation of the spring. The spring is sleeved on the bolt, and one end of the bolt is connected with the shell nut to limit the movement of the bolt; The pre-tightening compression of the spring, that is, the distance between the limit sleeve and the linearly moving housing is adjusted by bolts. When the foot touches the ground, because the robot is affected by the impact force of the ground, the limit sleeve moves the housing along a straight line, the distance between them is shortened, and the extrusion spring shrinks and deforms, thereby better controlling the impact force of the robot when it lands. buffering effect.

The control sensing system unit is mainly composed of GPS, gyroscope, laser radar sensor, CAN bus, USB data line, controller, encoder and PC.

Advantage of the present invention and positive effect are:

1. The foot-wheel compound deformation mobile robot adopted in the present invention adopts elastic feet instead of traditional rigid feet to increase the motion stability of the robot and reduce the vibration and impact of the robot. Passability, in the complex mountainous environment, urban terrain and other complex terrains, the foot-type travel mode is adopted, which realizes the powerful obstacle-crossing function and terrain adaptability, and the foot-wheel composite In the mobile mode, the climbing ability of the robot is improved.

2. The driver of the leg of the foot-wheel compound deformation mobile robot of the present invention is a ball screw drive device, and the unique installation method increases the output torque of the driver, so that the leg has a strong load capacity. The driver is not directly installed on the rotary joint, which avoids the bulky and heavy structure of the rotary joint. The wheel drive device is installed under the frame. In the wheel motion mode, it not only improves the stability and speed of the robot's rapid movement, but also makes the robot Compact structure.

3. The foot-wheel compound deformation mobile robot of the present invention adopts a modular design, does not interfere with each other, and is convenient for maintenance and replacement.

4. The movement mode of the foot-wheel compound deformation mobile robot of the present invention can be flexibly changed, and the mutual transformation and coordinated combination of foot and wheel movement improves the movement ability of the robot.

Description of drawings

Fig. 1 is a structural principle diagram of a compound deformation mobile robot combined with elastic feet and wheeled kinematic mechanisms of the present invention;

Fig. 2 is a modular design single-leg structure diagram of a compound deformation mobile robot combined with an elastic foot and a wheeled motion mechanism of the present invention;

Fig. 3 is a schematic diagram of single-leg movement of a compound deformation mobile robot combined with an elastic foot and a wheeled movement mechanism according to the present invention;

Fig. 4 is a structural diagram of a joint drive module of a compound deformation mobile robot combined with an elastic foot and a wheeled motion mechanism according to the present invention;

Fig. 5 is a sectional view of Fig. 4;

Fig. 6 is a partial cross-sectional view of an elastic calf of a composite deformable mobile robot combining elastic feet and wheeled motion mechanisms according to the present invention;

Fig. 7 is an exploded schematic diagram of the structure of the active wheel drive module of a compound deformation mobile robot combining elastic feet and wheeled motion mechanisms according to the present invention;

Fig. 8 is a schematic diagram of a footed walking state of a compound deformation mobile robot combining elastic feet and wheeled motion mechanisms according to the present invention;

Fig. 9 is a schematic diagram of a wheeled moving state of a compound deformation mobile robot combined with elastic feet and a wheeled motion mechanism according to the present invention;

Fig. 10 is a schematic diagram of the compound motion state of the caster wheel of a composite deformation mobile robot combining elastic feet and wheeled motion mechanisms according to the present invention.

Among them: 1 is the sealed shell, 2 is the leg module, 3 is the driven mechanism of the universal wheel, 4 is the driving mechanism of the driving wheel, 5 is the dustproof plate, 6 is the front/rear cover plate, 7 is the space frame body, 8 10 is the laser radar sensor, 11 is the α rotation axis of the hip joint, 12 is the orthogonal link frame of the hip joint, 13 is the symmetrical thigh support, 14 is the γ drive module of the knee joint, and 15 is the knee joint γ rotation axis, 16 is the sole of the foot, 17 is the calf limit sleeve, 18 is the linear movement accessory of the calf, 19 is the U-shaped bracket of the calf, 20 is the positioning half shaft, 21 is the hip joint β drive module, and 22 is the bolt and nut connection 23 is the hip joint β rotation shaft, 24 is the flange, 25 is the hip joint bracket, 26 is the hip joint α driving module, 27 is the motor of the joint driving module, 28 is the gear box, 29 is the locking screw, 30 is the small Gear ball bearing, 31 is the gearbox cover, 32 is the positioning pin, 33 is the right single row angular contact ball bearing, 34 is the large gear, 35 is the left single row angular contact ball bearing, 36 is the ball screw, 37 is the ball screw Nut, 38 is a nut connector, 39 is a gear box cover positioning bearing, 40 is a nut connector positioning bearing, 41 is a driving wheel connecting bolt, 42 is a driving wheel, 43 is a driving wheel backing plate, and 44 is a driving wheel mounting plate, 45 is the hub connection nut, 46 is the drive frame cover plate, 47 is the drive frame cover plate connection screw, 48 is the motor spur gear, 49 is the motor connection bolt, 50 is the motor spur gear locking screw, 51 is the driving wheel drive module motor, 52 is the drive shaft deep groove ball bearing, 53 is the drive main shaft, 54 is the drive frame, 55 is the drive shaft spur gear, 56 is the drive shaft spur gear locking screw, 57 is the axle end cover, 58 is the driving wheel mounting plate locking screw, 59 is the axle end cover screw, and 60 is the limit pin, and 61 is the elastic shank screw rod, and 62 is the elastic shank spring, and 63 is the elastic shank nut.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in Figure 1, a composite deformation mobile robot combining elastic feet and wheeled motion mechanisms according to the present invention is specifically a foot-wheel composite deformation mobile robot designed with a special composite scheme, and its mechanical structure adopts mutually independent compound way. In this embodiment, there are four modularly designed leg units 2, a driven wheel structural unit 3, a driving wheel drive module unit 4, a space frame body 7 carrying various types of sensors, control circuits, PCs and power supplies, and a sealed housing 1 and so on. The installation method of the four modularized leg units and the space frame body 7 is that the hip joint support 25 and the space frame body 7 in FIG. The two driving wheel drive modules 4 are fixedly connected to the left and right sides of the space frame body 7 by bolts respectively, and the two driven wheel modules 3 are respectively fixedly connected to the front and rear sides of the space frame body 7 by bolts. The bottom of the space frame body 7 is arranged in a rhombus structure. In this example, the robot evolves three motion modes as shown in Figures 8, 9, and 10. When the robot moves in uneven terrain, it adopts the leg mode walking mode, and each leg can realize three degrees of freedom of movement. Large working space and strong adaptability to complex terrain environments; when the robot moves on flat ground, it adopts four-wheel rolling mode, and the robot can switch from leg mode to four-wheel rolling mode by switching gait control, so that the robot can move quickly on flat ground ability. In some complex terrain environments, the robot adopts the foot walking mode and the wheel rolling mode to coordinate and go hand in hand to cross complex obstacles in a specific compound way to achieve a strong obstacle surmounting ability.

As shown in Figure 2, the leg unit of the foot-wheel compound deformation mobile robot adopts a modular design scheme. The installation direction of the hip joint orthogonal link frame 12 can form different robot leg configuration schemes. The structure of the leg module 2 mainly includes a symmetrically designed hip joint support 25, a hip joint α rotation axis 11, a hip joint α drive module 26, a hip joint orthogonal link frame 12, a symmetrical thigh support 13, a knee joint γ drive module 14, and a knee joint γ drive module 14. Joint γ rotation axis 15, sole 16, calf limit sleeve 17, calf linear movement accessories 18, calf U-shaped bracket 19, positioning half shaft 20, hip joint β drive module 21, bolt and nut connector 22, hip joint β Rotate 23 axles, flange 24, hip joint support 25. In this embodiment, the leg module 2 contains three active rotating joints and one driven elastic joint. Each active rotary joint is driven by a ball screw drive module. One end of two symmetrically designed hip joint supports 25 is fixedly connected to the space frame body 7 through six bolts, and the other end is respectively bonded to a flange 24 through aluminum, and the flange, hip joint are connected by a set of bolt and nut connectors 22. The joint bracket 25 and the hip joint α rotation shaft 11 are fixedly connected to form a component. The integrated component and the two ends of the hip joint orthogonal link frame 12 are respectively supported and positioned by a deep groove ball bearing to realize the rotational movement of the hip joint α. The two sides of one end of the hip joint α drive module 26 gear box pass through a positioning half shaft 20 respectively, and the deep groove ball bearing assembly is embedded between the hip joint brackets 25 . The two sides of one end of the nut of the hip joint α driving module 26 respectively pass through the same positioning half shaft 20 , and the deep groove ball bearing assembly is embedded between the orthogonal link frames 12 of the hip joint. Similarly, the knee joint γ drive module 14 and the hip joint β drive module 21 are embedded between two symmetrically designed thigh supports 13 through a positioning half shaft 20 and a deep groove ball bearing assembly on both sides of one end of the gear box. The two ends of the two symmetrically designed thigh supports 13 are fixedly connected to the four flanges 24 through aluminum bonding, and are respectively fixedly connected to the knee joint γ rotation axis 15 and the hip joint β rotation axis 23 through bolt and nut connectors 22. . The two ends of the integrated component are respectively connected to one end of the hip joint orthogonal link frame 12, and one end of the calf U-shaped bracket 19 is positioned through deep groove ball bearings to realize the rotational movement of the hip joint β and the knee joint γ. One end of the nut of the knee joint γ drive module 14 passes through a set of positioning half shafts 20 on both sides, the deep groove ball bearing assembly is embedded between the U-shaped brackets 19 of the calf, and the nut of the hip joint β drive module 21 passes through a set of positioning half shafts on both sides The shaft 20 and the deep groove ball bearing assembly are embedded between the other ends of the hip joint orthogonal link frame 12 . The elastic calf acts as a driven joint, which can store energy and buffer the impact force of the ground, reducing the vibration of the body. The elastic calf device is shown in Figure 3, and consists of a calf linear movement accessory 18, a leg U-shaped bracket 19, a calf limit sleeve 17, a limit pin 60, an elastic calf screw 61, an elastic calf spring 62, and an elastic calf nut 63. . The calf U-shaped bracket 19 and the calf linear movement fitting 18 are fixedly connected by four hexagon socket bolts and nuts, and the elastic linear movement between the calf limit sleeve 17 and the calf linear movement fitting 18 is sleeved on the elastic calf screw 61 through the spring 62, and the screw The other end is realized by the assembly of the elastic shank nut 63. By adjusting the distance between the screw rod and the nut, the preload compression of the spring is changed to limit the movement of the bolt. The calf limit sleeve 17 and the calf linear movement fitting 18 are connected by a limit pin 60 to limit the maximum deformation of the spring; Relative linear movement is generated, and the extrusion spring 62 is compressed and deformed, which has a better buffering effect on the impact force of the robot at the moment of landing. The sole 16 is wrapped with a rubber sleeve and is used to increase the friction between the sole and the ground, and plays a part of the cushioning effect.

As shown in Figure 4 and Figure 5, the working principle of the ball screw drive module 2: the motor assembly 27 of the joint drive module outputs the rotary motion to the first-stage gear reducer, and the two ends of the large gear 34 in the first-stage gear reducer respectively adopt the right The single row angular contact ball bearing 33 and the left single row angular contact ball bearing 35 support the positioning, and the positioning pin shaft 32 is fixedly connected with the ball screw 36 to transmit the rotational motion and torque to the ball screw 36, and the ball screw pair converts the rotational motion into a ball screw The linear movement of the rod nut 37, in turn, drives the rotational movement at the joint. The rotary joint driving module 2 includes a joint driving module motor assembly 27, a gear box 28, a locking screw 29, a pinion 30, a gear box cover 31, a positioning pin 32, a right single row angular contact ball bearing 33, a large gear 34, and a left single row Angular contact ball bearing 35, ball screw 36, ball screw nut 37, nut connector 38, gear case cover locating bearing 39, nut connector locating bearing 40. The motor 27 of the joint driving module is a DC servo motor, and is fixed on the gear case 28 by screws. The ball screw 36 is positioned and the shaft end 34 is supported and positioned by the 7000C type right single row angular contact ball bearing 33 and the left single row angular contact ball bearing 35. The left single row angular contact ball bearing 33 is mounted on the gear case cover 31 , and the right single row angular contact ball bearing 33 is mounted on the gear case body 28 . The pinion passes through the small hole reserved in the gear box body 28, so that the locking screw 29 is locked with the output shaft of the motor 27 of the joint drive module to prevent its axial movement. The bull gear 34 meshed with the pinion 30 is fixed on the ball screw 36 by the positioning pin 32 at the position of the shaft end. The gear case body 28 and the gear case cover 31 are fixedly connected and sealed by screws. The output shaft of the drive motor assembly 27 is connected parallel to the shaft end of the ball screw 36 through a first-stage gear reducer and located on the same side. , takes up a lot of space, and greatly reduces the problem of the axial length of the joint drive module.

As shown in Figure 6, the schematic diagram of leg movement is shown. The motor assembly outputs rotational motion to realize the reciprocating linear motion of the working shaft end of the ball screw. The working shaft end of the ball screw outputs axial working force to drive the rotary joint in the corresponding leg module. complete the rotational motion of the joint.

As shown in FIG. 7 , it is an exploded schematic diagram of the structure of the driving wheel driving module. The motor 51 of the driving wheel driving module is a DC servo motor, and is fixed on the driving frame 54 by the motor locking screw 49 . The motor spur gear 48 is locked on the output shaft of the driving wheel drive module motor 51 through the motor spur gear locking screw 50 . The drive shaft spur gear 55 meshed with the motor spur gear 48 is locked on the drive shaft 53 by two drive shaft spur gear locking screws 56 , and the right end of the drive shaft 53 is supported on the drive frame 54 by a deep groove ball bearing 52 . The left end of the drive spindle 53 is supported in the bearing installation hole protruding on the left side of the drive frame 54 through two deep groove ball bearings 52, and the outer ring of one of the bearings is fixed by a shaft end cover 57, and the inner ring of the other bearing is driven The shaft shoulder on the main shaft 53 is fixed and the outer ring of the bearing is fixed by the shoulder of the bearing hole. The axle end cover 57 is fixedly connected with the drive frame 54 through the axle end cover screws 59 . The driving wheel 42 is fixedly connected with the driving wheel backing plate 43 and the driving wheel mounting plate 44 as a whole through the driving wheel connecting bolt 41 and the wheel hub connecting nut 45 . And it is transitionally matched with one end of the driving main shaft 53, and locked by the locking screw 58 of the driving wheel mounting plate to prevent axial movement. The driving frame cover plate 46 cooperates with the U-shaped inner wall of the driving frame 54, and is fixed with the driving frame 54 by six driving frame cover plate connecting screws 47. The drive frame 54 is fixedly connected with the body by six bolts.

The caster compound deformation mobile robot of the present invention can perceive and detect the surrounding environment and topographic features through sensors such as laser radar sensors, gyroscopes, and GPS, and obtain body posture information, and select a certain motion mode to realize irregular There are three motion modes: foot-like walking under terrain, four-wheel rolling on flat ground, and foot-wheel compound coordinated marching in complex environments.

Footed walking mode under irregular terrain: When the foot-wheel composite mobile robot detects that the terrain is irregular through the lidar sensor, the robot independently selects the footed walking mode to realize the foot-wheel composite deformation mobile robot. Functions such as walking on the ground and crossing obstacles. Through GPS and laser radar to obtain information, plan the optimal path, supplemented by different types of control gait, triangular gait, diagonal gait, turning gait and other all-round gait, can realize foot-wheel compound deformation movement Changes in the robot's walking gait adapt to the characteristics of the environment. As shown in Figure 8, when the foot-wheel compound deformation mobile robot is on the irregular ground, the slow-moving static gait propulsion method in the figure can be adopted, that is, at least every moment the robot has three legs supporting the state to walk stably, The robot can not only ensure the passability and coordination in the process of overcoming obstacles, but also ensure the stability and adaptability of the robot in the process of advancing.

Four-wheel rolling mode on flat ground: When the foot-wheel composite mobile robot detects that the terrain is flat ground through the lidar sensor, the robot independently selects four-wheel rolling on flat ground to realize the fast movement function of the foot-wheel composite deformation mobile robot on flat ground . Through the information obtained by the sensor, the optimal path of the robot's wheeled movement is planned. The foot-wheel compound deformation mobile robot can realize the stable and coordinated transformation of the foot-wheel compound mobile robot from the footed walking mode to the wheeled mobile mode through the specially designed conversion gait control. As shown in Figure 9, the foot-wheel compound deformation mobile robot is moving on a flat ground, which can ensure the stability and rapid movement of the robot on the flat ground based on lidar real-time obstacle avoidance.

Foot-wheel compound coordinated walking mode in complex environments: When the foot-wheel compound mobile robot encounters complex terrain, it needs to organically combine the foot-type walking with the wheel-type movement mode to realize the powerful ability of the robot to pass through complex obstacles. Figure 10 shows the movement state of the foot-wheel compound mobile robot passing through the low-lying area. Since the legs of the robot have a superior working space, it can ensure that the foot end of the robot can reach the designated position.

The parts not described in detail in the present invention belong to the well-known technology in the art.

Although the illustrative specific embodiments of the present invention have been described above, so that those skilled in the art can understand the present invention, it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, As long as various changes are within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.

Claims (6)

1. A compound deformation mobile robot combining elastic feet and wheeled motion mechanisms, characterized in that it comprises a space body frame unit of the foot-wheel compound mobile deformation robot, a driving wheel drive unit, a driven wheel follower unit, and four modularized Leg unit, control sensing system unit, sealed housing and power supply; where: The space body frame unit is a frame organization of a space structure, which has strong bending resistance, torsion resistance and load capacity. The interior of the space body frame unit mainly contains a control system unit, a power supply, a PC, a sensor unit, and a sealed shell. Body and load, the external main suspension is the drive wheel drive unit, the driven wheel follower unit and four modular leg units, the drive wheel drive unit and the driven wheel follower unit are respectively installed on the left and right sides and the front and rear sides of the space body frame unit, In addition, the wheel drive system is fixedly installed at the bottom of the frame unit of the space body in a diamond-shaped structure, and the four modular leg units are installed on the four fixed brackets on both ends of the space frame unit of the body that are tilted upward; The driving unit of the driving wheel, the driving unit of the left and right driving wheels of the robot is driven by a servo DC motor equipped with an encoder, and the torque is transmitted to the driving wheel by a spur gear stage, the gear main shaft and the wheel mounting plate to generate rotational motion. The driving wheel adopts a common tire model, and the wheel drive system is connected to the body space frame unit by bolts at the bottom of the drive block; The follower unit of the driven wheel is composed of two pairs of universal wheel assemblies at the front and rear of the robot, without a driving motor, installed under the bottom of the frame unit of the space body, and forms a rhombus configuration shape with the drive system of the driving wheel; The four modular leg units are four unified mammal-like leg structures, and the four legs are arranged symmetrically or in the same direction. Each robot leg is driven by a ball screw, a joint rotation axis, and a hip joint bracket. , hip joint orthogonal link frame, thigh support, elastic calf, and rubber sole, excluding the ball screw drive device, the connection sequence of the main frame structure of the robot leg is from top to bottom: one end of the hip joint support is fixed to the body Connection, the other end of the hip joint support is connected with the hip joint orthogonal link frame through the rotating joint shaft, the other end of the hip joint orthogonal link support is connected with the thigh support through the rotating joint shaft, and the other end of the thigh support is connected with the elastic calf through the rotating joint shaft, The other end of the elastic calf is directly connected to the sole of the foot. Each leg structure contains three degrees of freedom, which can realize the three-dimensional movement of the robot, so that the robot has a strong ability to adapt to complex terrain and overcome obstacles. Each degree of freedom in the robot leg structure Corresponding to a rotary joint, each rotary joint is driven by an independent ball screw drive device to output linear motion, which is converted into rotary motion at the joint through the joint rotation axis. Due to the modular design of the robot legs, only By adjusting the installation direction of the hip joint support and the hip joint orthogonal link frame, four configuration modes of the four legs can be realized as much as possible. 2. The compound deformation mobile robot combining elastic foot and wheeled motion mechanism according to claim 1, characterized in that, the ball screw device driven by a servo motor is used as the driving mode of the compound deformation mobile robot; The working principle of the ball screw driving device is that the ball screw driving device outputs the rotary motion to the first-stage gear reducer through the servo motor assembly. Both ends of the large gear in the first-stage gear reducer are positioned and supported by single-row angular contact ball bearings, and adopt The cylindrical pin shaft is fixedly connected with the ball screw, and the first-stage gear reducer transmits the rotational motion and torque to the ball screw, and the ball screw pair converts the rotational motion transmitted by the motor output into the linear motion of the screw nut, and then drives the degree of freedom of the joint rotation movement. 3. A kind of composite deformation mobile robot combining elastic feet and wheeled kinematics according to claim 2, characterized in that, the ball screw driving device at the rotating joint of each leg, the parameter selection of the motor assembly, the ball The parameter selection of the screw pair and the size design of the gearbox adopt a modular design scheme, and only the spur gear reduction ratio is different in the first-stage gear reducer. 4. The compound deformation mobile robot combining elastic foot and wheeled motion mechanism according to claim 1, characterized in that, the compound mobile robot adopts elastic shanks instead of traditional rigid legs, so as to improve the adaptability of the robot to the ground environment, buffer The ground impact force reduces the vibration of the body. The elastic device of the robot's calf structure is a spring, the passive control unit link, and the bottom of the foot is wrapped with rubber to increase the friction between the sole of the foot and the ground to partially buffer the impact of the robot on the ground. 5. The compound deformation mobile robot combining elastic foot and wheeled motion mechanism according to claim 4, characterized in that, the elastic shank is composed of a limit sleeve, a linearly moving housing, a screw rod, a spring, and a nut. Relative linear motion can be generated between the limit sleeve and the linear movement housing, and the surface of the limit sleeve has a limit groove, and the positioning pin shaft is used to connect the linear movement housing, which can limit the maximum deformation of the spring, and the spring is sleeved on the bolt , and one end of the bolt is connected with the shell nut to limit the movement of the bolt; the other end is in the linear movement housing of the calf, and the pre-tightening compression of the spring, that is, the distance between the limit sleeve and the linear movement housing is adjusted by the bolt. When the end touches the ground, because the robot is affected by the impact force of the ground, the limit sleeve moves the shell along a straight line, the distance between them is shortened, and the extrusion spring shrinks and deforms, so that the impact force of the robot at the moment of landing is better buffered. . 6. According to any one of claims 1 to 5, a compound deformation mobile robot combining elastic feet and wheeled motion mechanisms, is characterized in that the control sensor system unit is mainly composed of GPS, gyro instrument, laser radar sensor, CAN bus, USB data cable, controller, encoder, and PC.