CN105539626B - A kind of leg-wheel robot leg structure that can be dual-purpose - Google Patents

Abstract

The invention discloses a dual-purpose wheel-leg robot leg structure, which comprises a walking wheel, a power supply device and a support frame. The robot leg structure of the present invention can be used as an eccentric wheel leg, can also be used as a wheel, and can also be used in combination, and which mode can be selected according to different terrains. Compared with traditional wheels and multi-legged robots, eccentric wheels are more suitable for walking on complex terrain such as gravel, grass, sand and other surfaces. They have strong obstacle-surmounting ability and can easily cross obstacles slightly lower than the height of the fuselage; Compared with the eccentric wheel, the texture surface walking is more energy-saving and can avoid the violent vibration caused by the eccentric wheel walking, ensuring the stability and speed of walking. Combining the two, it can realize continuous and stable work on flat hard surfaces and complex terrain.

Description

A dual-purpose wheel-legged robot leg structure

technical field

The invention relates to a robot leg structure of a multi-legged robot, in particular to a semicircular leg robot leg structure and a wheel robot wheel structure.

Background technique

Common robot leg structures mainly include wheeled and multi-degree-of-freedom footed. Wheeled robots have the advantages of simple structure, fast movement speed, high efficiency, and easy control. However, the ground that wheeled robots can pass must be is continuous, but many ground passable areas in the natural environment are discrete and discontinuous, and the multi-degree-of-freedom legged robot plans the footholds for the ground environment so that it can pass through discrete and discontinuous rough ground, but in its Planning the foothold also reduces the walking speed of the robot. For occasions with relatively high speed requirements, it is obvious that the multi-degree-of-freedom legged robot is not suitable. In order to enhance the robot's ability to adapt to various environments, many new robot leg structures have been proposed. The most typical example is a new type designed by roboticists at the Intelligent Machine Center of McGill University in Canada in 1999. It has six semicircular legs. The legged robot "Rhex" introduces the concept of semicircular legs for the first time. This structure not only has the advantages of simple structure, fast movement speed, high efficiency, and easy control like wheeled legs, but also can smoothly pass through most of the discrete nature. Non-continuous terrain.

From the above analysis, it can be seen that semicircular legged robots have more advantages than other legged robots in walking on complex terrain such as gravel, grass, sand and other surfaces, but they vibrate when walking on flat and hard surfaces, which is not as good as wheeled robots. Convenience. Based on this, the present invention proposes a dual-purpose wheel-leg robot leg structure. Referring to FIG. The eccentric wheel with the robot power output shaft 6 as the axis, the rotation of the eccentric wheel promotes the movement of the robot; when the robot power output shaft brakes, the support frame 3 is fixed relative to the robot, and the power supply device 2 provides power for the walking wheel 1, The robot at this time moves by the rotation of the road wheels 1 . By switching the working mode of the robot legs, it can achieve continuous and stable work on flat hard surfaces and complex terrains, make full use of the advantages of the semi-circular leg type and the wheel type, and learn from each other to achieve the best state of the robot when walking.

Contents of the invention

The present invention proposes a dual-purpose wheel-leg robot leg structure, and aims to provide a robot leg structure that can continuously and stably work on flat hard surfaces and complex terrains.

The technical scheme adopted by the present invention, with reference to Fig. 1, is a dual-purpose wheel-leg robot leg structure, which is characterized in that the structure includes a walking wheel 1, a power supply device 2, and a support frame 3; the walking wheel 1 is provided by power The output shaft 4 of the device is connected with the power supply device 2; the output shaft 4 of the power supply device is arranged at one end of the power supply device 2; the power supply device 2 is connected with the support frame 3.

The walking wheel 1 is driven or braked by the power supply device 2; the upper end of the support frame 3 is connected to the power output shaft 6 of the robot to be driven or braked.

The power supply device 2 is composed of a motor, a gear box, and an encoder, and the motor, gear box, and encoder are sequentially connected for power output.

The beneficial effects of the present invention are as follows:

By switching the working mode of the robot legs on the flat hard surface and complex terrain, it can realize continuous and stable work on the flat hard surface and complex terrain, make full use of the advantages of the semi-circular leg type and the wheel type, and learn from each other to achieve the robot The best condition when walking.

Description of drawings

Fig. 1 is a schematic diagram of a dual-purpose wheel-legged robot leg structure.

Fig. 2 is an exploded view of a dual-purpose wheel-legged robot leg structure.

Fig. 3 is a schematic diagram of a hexapod robot suitable for walking on complex terrain.

Fig. 4 is a schematic diagram of a hexapod robot suitable for advancing on a flat hard surface.

In the figure: 1. walking wheels, 2. power supply device, 3. support frame, 4. output shaft of power supply device, 5. main body of hexapod robot, 6. robot power output shaft.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1, a kind of dual-purpose wheel leg type robot leg structure is characterized in that, comprises road wheel 1, power supply device 2, support frame 3, wherein: road wheel 1, and described power supply device The output shaft of 2 is connected; the power supply device 2 is connected with the support frame 3.

The walking wheel 1 is driven to run or braked by the power supply device 2, and the upper end of the support frame 3 is connected to the power output shaft of the robot, and can be driven to run or brake.

In order to understand the present invention more clearly and visually, taking a hexapod robot as an example, two modes are applied to the robot to illustrate, referring to Fig. 3 and Fig. 4:

Referring to Fig. 3, when the hexapod robot walks on complex terrain, the power supply device 2 performs brake control, and the walking wheel 1 rotates around the robot PTO shaft 6 as the axis, forming an eccentric wheel around the robot PTO shaft 6 , the rotation of the eccentric wheel promotes the movement of the robot; referring to Figure 4, when the robot power output shaft 6 brakes, that is, the support frame 3 is fixed relative to the robot main body 5, and the power supply device 2 provides power for the road wheel 1, and the robot passes the road wheel at this time. 1 rotation for movement. By switching the working mode of the robot legs, it can achieve continuous and stable work on flat hard surfaces and complex terrains, make full use of the advantages of the semi-circular leg type and the wheel type, and learn from each other to achieve the best state of the robot when walking.

Finally, it should be noted that the above embodiments are only used to illustrate the present invention rather than limit the technical solutions described in the present invention, so although the specification has been described in detail with reference to the above embodiments, those of ordinary skill in the art should It is understood that the present invention can still be modified or equivalently replaced, and all technical solutions and improvements that do not depart from the spirit and scope of the invention should be covered by the claims of the present invention.

Claims (1)

1. A dual-purpose wheel-legged robot leg structure is characterized in that: the structure includes a walking wheel (1), a power supply device (2), a support frame (3); the walking wheel (1) passes through the power supply device The output shaft (4) is connected to the power supply device (2); the power supply device output shaft (4) is arranged at one end of the power supply device (2); the power supply device (2) is connected to the support frame (3); The walking wheel (1) is driven to run or braked by the power supply device (2); the upper end of the support frame (3) is connected to the robot power output shaft (6), and is driven to run or brake; The power supply device (2) is composed of a motor, a gear box, and an encoder, and the motor, the gear box, and the encoder are sequentially connected for power output; When the hexapod robot walks on complex terrain, the power supply device (2) performs brake control, and the walking wheel (1) rotates with the robot power output shaft (6) as the axis to form a robot with the robot power output shaft (6) as the axis. centered eccentric wheel, the rotation of the eccentric wheel promotes the movement of the robot; when the robot power output shaft (6) brakes, the support frame (3) is fixed relative to the robot main body (5), and the power supply device (2) is the walking wheel (1 ) to provide power, at this time the robot moves through the rotation of the walking wheel (1); by switching the working mode of the robot legs, it can achieve continuous and stable work on flat hard surfaces and complex terrains, and make full use of the advantages of the semicircular leg type and wheel type, Learn from each other to achieve the best state when the robot is walking.