CN106828651A - A kind of sufficient kinematic robot of deformable wheel - Google Patents

Abstract

The invention discloses a deformable wheel-foot motion robot, which includes a control system and a mechanical system. The motion mechanism includes four wheels installed at the rear of the mechanical system and a drive motor that drives at least one wheel. Each leg motion mechanism includes a number of steering gears connected in series. The output shafts of each steering gear are perpendicular to each other. The control system controls each The steering gear is rotated to adjust the posture of each leg movement mechanism. Through the setting of the leg movement mechanism and the wheel movement mechanism, the wheel movement mechanism is used to move when moving on flat ground. When encountering complex terrain, by adjusting the front and rear legs The pose of the kinematic mechanism is used to switch the motion mode between wheeled motion and footed motion. The deformable wheel-footed motion robot has flexible motion and strong environmental adaptability. This invention is used in the technical field of quadruped robots.

Description

A Deformable Wheel-Footed Robot

technical field

The invention relates to the technical field of quadruped robots, in particular to a deformable wheel-foot robot.

Background technique

With the continuous development of robot technology, in the face of harsh environments and complex terrains, using the deformation function of mobile robots to enhance their terrain adaptation and autonomous movement capabilities is a robot technology that has developed rapidly in recent years. Compared with wheeled, tracked or general footed mobile robots, wheel-footed variable form robots have the characteristics of strong obstacle-surmounting ability and high movement speed.

After the analysis of mobile robots in complex environments at home and abroad, it is found that the current robot motion mechanisms mainly adopt the forms of wheel mechanism, crawler mechanism, leg mechanism and their composite mechanisms. The wheel-type mechanism moves quickly and is easy to control, but it performs extremely poorly in overcoming obstacles; the crawler-type mechanism has strong environmental adaptability, especially after adding a swing arm, but consumes a lot of energy; the leg-type structure, due to the robot's foot The end is in point contact with the ground, and has low requirements on the environment, so it has a strong ability to overcome obstacles, but the movement speed is low, and the structure and control are more complicated; composite structures, such as leg-tracking, wheel-tracking, wheel-leg and even wheel-tracking These methods often combine their advantages in various aspects to give full play to their best performance advantages, and their applications are becoming wider and wider, but their control has certain complexity.

Considering the functional requirements of mobile robot systems operating in complex environments, it is urgent to design a mobile robot with four-legged deformable wheel-leg movement, which is equipped with sensors and can be controlled remotely.

Contents of the invention

In order to solve the above problems, the present invention provides a deformable wheel-footed robot with flexible movement and strong environmental adaptability.

The technical solution adopted by the present invention to solve its technical problems is:

A deformable wheel-footed robot, including a control system and a mechanical system. The mechanical system includes a trunk, a wheeled kinematic mechanism and four leg kinematics mounted on the torso with multiple degrees of freedom of movement. The wheeled kinematics includes an installation Four wheels at the rear of the mechanical system and a driving motor driving at least one wheel, each leg movement mechanism includes a number of steering gears connected in series, the output shafts of each steering gear are perpendicular to each other, and the control system controls each steering gear to rotate to Adjust the posture of each leg movement mechanism to realize the movement mode switching between wheel movement and foot movement.

As a further improvement of the above-mentioned technical solution, each leg movement mechanism includes a first steering gear, a first steering gear bracket, a second steering gear bracket, a second steering gear, a third steering gear and a third steering gear that are sequentially connected in series and fixed together. The steering gear bracket, the first steering gear is installed in the forward and backward swing direction, the second steering gear is installed in the left and right swing direction, and the third steering gear is installed in the forward and backward swing direction.

As a further improvement of the above-mentioned technical solution, four wheels are respectively installed at the upper and lower ends of the two leg movement mechanisms at the rear of the trunk.

As a further improvement of the above-mentioned technical solution, there are two driving motors, and two motor brackets are installed on the left and right sides of the rear of the trunk. The two third steering gear brackets at the rear.

As a further improvement of the above technical solution, the bottom end of each third steering gear bracket is provided with an anti-skid pad.

As a further improvement of the above technical solution, the torso is a square plate made by 3D printing, with U-shaped incisions in the middle of the front and rear sides of the torso, and the leg movement mechanisms are fixedly connected to the four corners of the torso.

As a further improvement of the above technical solution, the control system includes a main chip, a power supply module, a WIFI module, a steering gear control port, a DC motor control port, a USART, a power output module, a sensor module, a DC motor driver and a program download module.

As a further improvement of the above technical solution, the control system is developed based on ARM, and the sensor module includes a camera and an attitude sensor.

Beneficial effects of the present invention: the deformable wheel-foot locomotion robot adopts the wheel-type locomotion mechanism to move when moving on flat ground through the setting of the leg locomotion mechanism and the wheel-type locomotion mechanism. The kinematic mechanism is stretched until it is perpendicular to the trunk, and then the two-leg kinematic mechanism at the rear of the trunk swings forward until the two-leg kinematic mechanism at the front touches the ground. At this time, the two-leg kinematic mechanism at the front swings forward until the torso After reaching the horizontal position, the four-legged motion mechanism returns to the original position to complete the switching of motion modes. The deformable wheel-footed motion robot has flexible motion and strong environmental adaptability.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing:

Fig. 1 is a structural schematic diagram of a four-legged motion mode of a deformable wheel-footed robot;

Fig. 2 is a schematic structural diagram of the wheeled motion mode of the deformable wheel-footed robot.

detailed description

With reference to Fig. 1 and Fig. 2, the present invention is a kind of deformable wheel-foot locomotion robot, comprises control system and mechanical system, and mechanical system comprises trunk 1, wheeled kinematic mechanism and is installed on the trunk 1 and has multiple degrees of freedom of movement. The leg movement mechanism, the wheel movement mechanism includes four wheels 7 installed at the rear of the mechanical system and the driving motor 8 driving at least one wheel 7, each leg movement mechanism includes several steering gears connected in series, each rudder The output shafts of the machine are perpendicular to each other, and the control system controls the rotation of each steering gear to adjust the posture of each leg movement mechanism to realize the movement mode switching between wheel movement and foot movement.

Through the setting of the leg movement mechanism and the wheel movement mechanism, the wheel movement mechanism is used when moving on flat ground. When encountering complex terrain, the two leg movement mechanisms at the front of the trunk 1 are stretched until they are perpendicular to the trunk 1, and then the trunk 1 The two-leg kinematic mechanism at the rear swings forward until the two-leg kinematic mechanism at the front touches the ground. At this time, the two-leg kinematic mechanism at the front swings forward until the trunk 1 reaches a horizontal position, and then the four-leg kinematic mechanism Returning to the original position and completing the switching of motion modes, the deformable wheel-footed robot has flexible motion and strong environmental adaptability.

As a preferred embodiment, each leg movement mechanism includes a first steering gear 2, a first steering gear bracket 31, a second steering gear bracket 32, a second steering gear 41, and a third steering gear 42, which are sequentially connected in series and fixed together. And the third steering gear support 5, the first steering gear 2 is installed in the front and rear swing direction, the second steering gear 41 is installed in the left and right swing direction, and the third steering gear 42 is installed in the front and rear swing direction.

As a preferred embodiment, the four wheels 7 are respectively installed at the upper and lower ends of the two leg movement mechanisms at the rear of the torso 1 .

As a preferred embodiment, there are two driving motors 8, and two motor brackets 9 for installing two driving motors 8 on the left and right sides of the trunk 1 rear are also provided. 7 are respectively rotatably connected on the two third steering gear brackets 5 at the rear.

As a preferred embodiment, the bottom end of each third steering gear bracket 5 is provided with an anti-slip pad 6, and each anti-slip pad 6 is a rubber anti-slip pad.

As a preferred embodiment, the torso 1 is a square plate made by 3D printing, U-shaped cutouts are opened in the middle of the front and rear sides of the torso 1, and the leg movement mechanisms are fixedly connected to the four corners of the torso 1.

As a preferred embodiment, the control system includes a main chip, a power module, a WIFI module, a servo control port, a DC motor control port, a USART, a power output module, a sensor module, a DC motor driver and a program download module.

As a preferred embodiment, the control system is fixedly installed on the torso 1, and the control system is developed based on ARM. The sensor module includes a camera and an attitude sensor. The attitude sensor is an MPU6050 attitude sensor. Acquisition and processing are then wirelessly transmitted to the host computer, and according to the analysis results of the host computer, the steering gear and the drive motor 8 on the leg movement mechanism are coordinated and controlled.

As a preferred embodiment, the first steering gear 2 is a single-axis steering gear, the second steering gear 41 and the third steering gear 42 are two-axis steering gears, and the two motor brackets 9 are fixedly arranged on the left and right sides of the rear part of the trunk 1 , two driving motors 8 are fixedly arranged on the left and right sides of the trunk 1 rear portion by two motor brackets 9. The wheels 7 are respectively rotated and connected to the two third steering gear brackets 5 at the rear to become driven wheels.

As a preferred embodiment, when the deformable wheel-footed robot moves in a foot-like manner, the end of each leg motion mechanism adopts a parabola-shaped motion to realize motion, and the inverse solution based on the robot toolbox of MATLAB is given under the condition of a given end trajectory. Calculate the output angle of each steering gear at each moment, and control the movement of each steering gear through the control system to make the four legs move alternately to realize foot movement.

During wheeled motion, two wheels 7 linking to each other with two driving motors 8 are driving wheels, and other two wheels 7 are driven wheels, and the direction of motion when adjusting the robot's wheeled motion by the angle of rotation of the second steering gear 41.

When it is necessary to switch from the footed exercise mode to the wheeled exercise mode, first the four leg movement mechanisms are straightened to be perpendicular to the ground, then the rear two leg movement mechanisms swing forward at the same time, and the front two leg movement The mechanism swings backwards, and now the two driving wheels are on the ground, the two leg motion mechanisms at the rear are restored to the straight state and the two leg motion mechanisms at the front swing down to the limit position, that is, the conversion process is completed.

When it is necessary to switch from the wheel-type exercise mode to the foot-type exercise mode, first the two leg movement mechanisms at the front are stretched to a position perpendicular to the trunk 1, and the two leg movement mechanisms at the rear are slowly swinging forward until the front two leg movement mechanisms The moving mechanisms of the two legs touch the ground, and the moving mechanisms of the two legs at the front slowly swing forward until the trunk 1 reaches a horizontal position, and then the moving mechanisms of the four legs return to the initial positions simultaneously, and the conversion process is completed.

Of course, the present invention is not limited to the above-mentioned embodiments. Those skilled in the art can also make equivalent modifications or replacements without violating the spirit of the present invention. In the range.

Claims (8)

1. one kind is deformable takes turns sufficient kinematic robot, it is characterised in that：Including control system and mechanical system, the machinery system System includes trunk（1）, wheel type motion mechanism and installed in the trunk（1）On four have do more physical exercises the free degree legs fortune Motivation structure, the wheel type motion mechanism includes the four wheels installed in mechanical system rear portion（7）With drive at least one wheel （7）Motor（8）, each leg exercise mechanism includes some steering wheels for being serially connected, the output of each steering wheel Axle is mutually perpendicular to, the control system control each steering wheel to rotate with adjust each leg exercise mechanism pose with realize wheel type movement and Motor pattern between sufficient formula is moved switches.

2. the deformable sufficient kinematic robot of wheel according to claim 1, it is characterised in that：Each leg exercise mechanism Including being sequentially connected in series the first steering wheel being fixed together（2）, the first steering wheel support（31）, the second steering wheel support（32）, the second rudder Machine（41）, the 3rd steering wheel（42）With the 3rd steering wheel support（5）, first steering wheel（2）Swing direction is installed, and described second Steering wheel（41）Swing direction installation, the 3rd steering wheel（42）Install in swing direction.

3. the deformable sufficient kinematic robot of wheel according to claim 2, it is characterised in that：Four wheels（7）Point An Zhuan not trunk（1）The upper and lower ends of the two legs portion motion at rear portion.

4. the deformable sufficient kinematic robot of wheel according to claim 2, it is characterised in that：The motor（8）Have Two, it is additionally provided with motor described in installation two（8）In trunk（1）Two electric machine supports of the rear portion left and right sides（9）, described in two Wheel（7）Respectively with motor described in two（8）It is connected, in addition wheel described in two（7）Rear portion is rotatably connected on respectively Two the 3rd steering wheel supports（5）On.

5. the deformable sufficient kinematic robot of wheel according to claim 4, it is characterised in that：Each 3rd steering wheel support （5）Bottom be provided with slipmat（6）.

6. the deformable sufficient kinematic robot of wheel according to claim 1, it is characterised in that：The trunk（1）It is by 3D The square plate of printing and making, the trunk（1）Front and rear two middle side part offer U-shaped otch, each leg exercise Mechanism is fixedly connected on trunk（1）Four edges.

7. the sufficient kinematic robot of deformable wheel according to claim 1~6 any one, it is characterised in that：The control System processed includes that master chip, power module, WIFI module, servos control port, DC MOTOR CONTROL port, USART, power supply are defeated Go out module, sensor assembly, DC motor driver and download program module.

8. the deformable sufficient kinematic robot of wheel according to claim 7, it is characterised in that：The control system is based on ARM is developed, and the sensor assembly includes camera and attitude transducer.