CN107054494A - A kind of displacement Stump-jump wheel leg for mobile robot - Google Patents

Abstract

The invention discloses a wheel leg for moving a robot to overcome obstacles. The wheel leg includes a driving device, a housing of the driving device, a supporting leg and a moving wheel. The driving device includes a driving motor, a reducer, an external threaded screw, and an internal threaded screw follower. The supporting legs include a long supporting leg and a short supporting leg. The driving motor and the reducing gear are installed at one end of the driving device housing. The long supporting leg One end is hinged on the internal thread screw follower, and the bottom end is equipped with a moving wheel. The internal thread screw follower engages the external thread screw, and the driving motor rotates to drive the internal thread screw follower along the external thread screw. The length direction of the drive device housing moves outward or inward, and the internal threaded screw follower drives the supporting leg to move to adjust the vertical position of the moving wheel. The innovation of the present invention is that the wheel leg can be adjusted to move through its own displacement and deformation The vertical position of the wheel changes, the structure is simple, the configuration is ingenious, and it can be self-locking, which provides a feasible way for the mobile robot to overcome obstacles.

Description

A kind of shifting wheel leg for mobile robot to overcome obstacles

technical field

The invention relates to the technical field of intelligent robots, in particular to a wheel leg for moving a mobile robot to overcome obstacles.

Background technique

According to the different modes of movement, mobile robots are mainly divided into three categories: wheeled, crawler and legged. With the advancement of technology and industry, mobile robots have made new developments in the walking mechanism through the combination of different movement modes, such as: wheel-legged robots, leg-walking robots, wheel-tracking robots, wheel-tracking-legged robots, etc. These robots are collectively referred to as Hybrid robots.

Wheeled mobile robots have the characteristics of flexible maneuvering, stable operation, fast speed, and heavy load, but their ability to adapt to terrain and overcome obstacles is limited. In contrast, legged mobile robots have good terrain adaptability and obstacle-surmounting ability, but their mobility performance is poor and their configuration is complex. The wheel-leg composite robot combines the advantages of wheel-type and leg-type mobile robots to make the robot have good mobility and strong obstacle-surmounting ability.

However, the current performance of wheel-legged robots is far from the above-mentioned motion characteristics. How to make wheel-legged robots play their due level of motion and achieve the perfect combination of the motion performance of wheeled robots and legged robots has become a research topic in this field. focus.

In order to solve the above problems, there is a need for an improved obstacle-displacement wheel leg for mobile robots, which can adjust the vertical position of the mobile wheel through its own displacement and deformation, and has a simple structure and automatic self-locking. It provides a feasible way for the mobile robot to overcome obstacles, so that the robot has good obstacle-surmounting performance and environmental adaptability.

Contents of the invention

In order to overcome the problems of poor obstacle-surmounting ability, poor load capacity, and unreasonable structure of the robot wheel legs themselves in the existing mobile robots. The present invention provides a displacement and obstacle-crossing wheel leg that can adjust the vertical position of the moving wheel through its own displacement and deformation, and the displacement and obstacle-crossing wheel leg for a mobile robot has a simple structure, an ingenious configuration, and can automatically The lock provides a feasible way for mobile robots to overcome obstacles.

The technical scheme adopted by the present invention to solve the technical problem is as follows: the present invention discloses a wheel leg for moving a robot to overcome obstacles. The driving device includes a driving motor, a reducer, an external threaded screw, and an internal threaded screw follower, and the supporting legs include long supporting legs and short supporting legs.

Preferably, the drive motor and reducer that drive the screw to rotate are installed at one end of the drive device housing.

Preferably, the supporting legs are suspended below the driving device through hinges, the upper ends of the long supporting legs are hinged to the internally threaded lead screw follower through hinge connectors, and the long supporting legs are connected to the moving wheels at their bottom ends. One end of the short support leg is hinged to the distal end of the drive device housing by a hinge connection, and the other end is hinged to the long support leg by a hinge connection.

Preferably, the internally threaded screw follower engages the externally threaded screw, the output shaft of the reducer and the externally threaded screw are connected together through a coupling, and the driving motor rotates to drive the internally threaded screw follower on the externally threaded screw. The rod moves outward or inward (depending on the direction of rotation of the screw) along the length of the drive housing.

Preferably, the moving wheel is a conventional rotating wheel, which can be a powered wheel or a non-powered wheel, installed at the bottom of the long supporting leg, and the internal thread screw follower drives the supporting leg to move to adjust the movement of the moving wheel. vertical position.

Preferably, said wheel leg drive means is used to extend (ie lower) and retract (ie raise) the wheel legs.

Preferably, movement of the internally threaded lead screw follower in the drive unit towards the distal end of the drive unit housing causes the hinged assembly of the long and short support legs to extend downwardly away from the drive unit. Movement of the internally threaded lead screw follower in the driver away from the distal end of the driver housing causes the hinged assembly of the long and short support legs to extend upwardly close to the driver. Extension and retraction of the long one of the support legs in turn raises and lowers the moving wheels.

Preferably, those skilled in the art will appreciate that the driving means can be configured in any other suitable way to extend and retract the supporting legs. For example, the driving device can be made of a telescopic member similar to an electric push rod.

Preferably, the shifting obstacle-crossing wheel legs can provide batteries and any suitable control system (not shown) to operate the wheel leg movement, for example, the battery can be installed on the robot body, and the electronic control system can be installed on the wireless remote control handle. One or more joysticks may be included to control various movements of the obstacle-climbing wheel legs.

The beneficial effect of the present invention is that a displacement wheel leg for a mobile robot can adjust the vertical position change of the mobile wheel through its own displacement and deformation, has a simple structure, an ingenious configuration, and can be self-locked. barrier provides a feasible implementation.

Description of drawings

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

Fig. 1 is a schematic diagram of the overall structure of the present invention;

Fig. 2 is a schematic diagram of the movement of the wheel legs for shifting and overcoming obstacles.

In the figure 1. Drive device, 11. Drive motor, 12. Reducer, 13. External thread screw, 14. Internal thread screw follower, 15. Coupling, 2. Drive housing, 3. Support Legs, 31. long support legs, 32. short support legs, 4. moving wheels, 21. the far end of the drive unit housing, 6. hinge connectors.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and embodiments, and the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The structures, proportions, sizes, quantities, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not used to limit the implementation of the present invention. Limiting conditions, so there is no technical substantive meaning, any modification of structure, change of proportional relationship or adjustment of size, without affecting the effect and purpose of the present invention, should still fall within the scope of the present invention. The disclosed technical content must be within the scope covered. At the same time, terms such as "upper", "lower", "left", "right", and "middle" quoted in this specification are only for the convenience of description and are not used to limit the scope of the present invention. , the change or adjustment of its relative relationship, without substantive changes in the technical content, should also be regarded as the scope of the present invention that can be implemented.

【Example】

Fig. 1 shows a schematic diagram of the overall structure of the wheel leg for moving a mobile robot to overcome obstacles in an embodiment of the present invention. The wheel leg comprises a driving device 1 , a driving device housing 2 , a supporting leg 3 and a moving wheel 4 . The drive device includes a drive motor 11 , a reducer 12 , an externally threaded screw 13 , an internally threaded screw follower 14 , and a shaft coupling 15 , and the supporting legs 3 include long supporting legs 31 and short supporting legs 32 .

As shown in Figure 1, the supporting leg 3 is suspended below the driving device 1 through hinges, and the long supporting leg 31 is hinged to the internal thread lead screw follower 14 at its upper end through a hinge connection 6 pieces, and at its bottom end, the long supporting leg 31 Attached to mobile wheel 4. One end of the short support leg 32 is hinged to the drive device housing distal end 21 via a hinge 6 , and the other end is hinged to the long support leg 31 via a hinge connection 6 .

As shown in Figures 1 and 2, the internally threaded screw follower 14 engages the externally threaded screw 13, the output shaft of the reducer 12 and the externally threaded screw 13 are connected together through a coupling 15, and the driving motor 11 rotates to drive The internally threaded screw follower 14 moves outwardly or inwardly (depending on the direction of rotation of the externally threaded screw 13 ) along the length of the drive housing 2 on the externally threaded screw 13 .

As shown in Figures 1 and 2, the moving wheel 4 is a conventional rotating wheel, which can be a powered wheel or an unpowered wheel, installed on the bottom of the long support leg 31, and the internal thread screw follower 14 drives the support The leg 3 moves to adjust the vertical position of the moving wheel 4 .

As shown in FIG. 2 , the wheel-leg driving device 1 is used to extend (ie, lower) and retract (ie, raise) the support legs 3 .

As shown in FIG. 2 , movement of the internally threaded lead screw follower 14 in the drive unit 1 close to the drive unit housing distal end 21 causes the hinged assembly of the long support leg 31 and the short support leg 32 to extend downwardly away from the drive unit 1 . Movement of the internally threaded screw follower 14 in the driver 1 away from the distal end 21 of the driver housing causes the hinged assembly of the long support leg 31 and the short support leg 32 to extend upwardly close to the driver 1 . The extension and retraction of the long support leg 31 in the support leg 3 in turn raises and lowers the moving wheel 4 .

As shown in FIG. 2 , those skilled in the art can understand that the driving device 1 can be configured in any other suitable way to extend and retract the supporting legs 3 . For example, the drive device 1 can be made of a telescopic member similar to an electric push rod.

The shifting obstacle-crossing wheel legs can provide batteries and any suitable control system (not shown) to operate the wheel leg movement, such as batteries can be installed on the robot body, the electronic control system can be installed on the wireless remote control handle, the handle can include a Or a plurality of joysticks, to control the various motions of the obstacle-changing wheel legs.

The beneficial effect of the present invention is that a kind of displacement wheel leg that is used for mobile robot can adjust the vertical position change of mobile wheel 4 through its own displacement deformation, simple in structure, ingenious in configuration, can be self-locked, is a mobile robot The Great Obstacle Surpass provides a feasible way to achieve it.

Claims (4)

1. a kind of displacement Stump-jump wheel leg for mobile robot, wheel leg include drive device, drive device housing, supporting leg, Movable pulley.Drive device includes drive motor, decelerator, external screw thread leading screw, internal thread leading screw driven member, and supporting leg includes length Supporting leg, short supporting leg.

2. the displacement Stump-jump wheel leg according to claim 1 for mobile robot, it is characterised in that above-mentioned supporting leg leads to Cross to be hinged and be suspended on below drive device, support leg of drawing money on credit is connected through the hinge in its upper end, and to be hinged to internal thread leading screw driven for part Part, in its bottom, support leg of drawing money on credit connection movable pulley.Short supporting leg one end is connected through the hinge, and to be hinged to drive device housing remote for part End, and the other end part that is connected through the hinge is hinged to support leg of drawing money on credit.

3. the displacement Stump-jump wheel leg according to claim 1 for mobile robot, it is characterised in that above-mentioned internal thread silk Thick stick driven member engages external screw thread leading screw, and output shaft and the external screw thread leading screw of decelerator are linked together by shaft coupling, driving electricity Machine rotation drives internal thread leading screw driven member inwardly or outwardly to be moved along drive device shell length direction on outer threaded screw rod Dynamic (direction of rotation for depending on screw mandrel).

4. the displacement Stump-jump wheel leg for mobile robot according to claim 1 and claim 3, its feature exists In the motion of internal thread leading screw driven member close to drive device housing distal causes draw money on credit support leg and short branch in above-mentioned drive device The hinge assembly of support leg is extended downwardly away from drive device, and internal thread leading screw driven member is away from drive device housing in drive device The motion of distal end cause the to draw money on credit hinge assembly of support leg and short supporting leg is upwardly extended close to drive device, long support in supporting leg Leg extend and retract and make movable pulley raise and reduce.